def __init__(self, position, gpio_trigger, gpio_echo):
GPIO.setmode(GPIO.BCM)
self.__position = position
self.__front_distance = int(0)
self.__gpio_trigger = gpio_trigger
self.__gpio_echo = gpio_echo
self.__distance = int(0)
self.__run = True
GPIO.setup(gpio_trigger, GPIO.OUT)
GPIO.setup(gpio_echo, GPIO.IN)
GPIO.output(gpio_trigger, GPIO.LOW)
Thread(target=self.measure).start()
def _get_distance(self):
if settings.USE_EMULATOR:
return random.randint(settings.DISTANCE_LOW,
settings.DISTANCE_HIGH)
GPIO.output(self.__gpio_trigger, True)
time.sleep(0.00001)
GPIO.output(self.__gpio_trigger, False)
start = time.time()
"""Les deux boucles hyper bizarre ici ont un sens, en fait quand on envoi le signal, input est HIGH
Donc dès que le signal part le start time se fixe car on sort de la boucle
Puis dès que le signal revient, l'input devient LOW, et donc le stop time se fixe dès que le rebound est
detecte par ECHO"""
while GPIO.input(self.__gpio_echo) == 0:
start = time.time()
while GPIO.input(self.__gpio_echo) == 1:
stop = time.time()
# Calculate pulse length
elapsed = stop - start
# Distance pulse travelled in that time is time
# multiplied by the speed of sound (cm/s)
# That was the distance there and back so halve the value
distance = elapsed * 34000 / 2
return distance
import threading
import settings
from kivy.app import App
from packages.robot import robot
from emulator.RPi.GPIO import GPIO
from emulator.interface.application import EmulatorApp
if __name__ == "__main__":
# todo parse arguments
a = robot.Robot(True)
app = EmulatorApp(a, True)
try:
app.run()
finally:
a.kill()
app.stop()
GPIO.cleanup()
from emulator.RPi.GPIO import GPIO
"""
Emulator that was used to emulate GPIO of the pi for dev purposes only
"""
if __name__ == "__main__":
GPIO.setmode(GPIO.BCM)
# -*- coding:utf-8 -*-
import threading
import settings
from packages.robot.robot import Robot
from packages.logger.logger import LOG
if settings.USE_EMULATOR:
from emulator.RPi.GPIO import GPIO
else:
import RPi.GPIO as GPIO
if __name__ == "__main__":
# todo parse arguments
GPIO.setmode(GPIO.BCM)
a = Robot(True)
try:
a.run()
except Exception as e:
LOG("An unexcpeted error occurs")
LOG(e)
finally:
a.kill()
GPIO.cleanup()