def run():
status_right = not GPIO.input(line_pin_right)
status_middle = not GPIO.input(line_pin_middle)
status_left = not GPIO.input(line_pin_left)
if status_left == 1:
turn.left()
led.both_off()
led.side_on(left_R)
motor.motor_left(status, forward, left_spd * spd_ad_2)
motor.motor_right(status, backward, right_spd * spd_ad_2)
elif status_middle == 1:
turn.middle()
led.both_off()
led.yellow()
motor.motor_left(status, forward, left_spd * spd_ad_1)
motor.motor_right(status, backward, right_spd * spd_ad_1)
elif status_right == 1:
turn.right()
led.both_off()
led.side_on(right_R)
motor.motor_left(status, forward, left_spd * spd_ad_2)
motor.motor_right(status, backward, right_spd * spd_ad_2)
else:
turn.middle()
led.both_off()
led.cyan()
motor.motor_left(status, backward, left_spd)
motor.motor_right(status, forward, right_spd)
pass
def main():
#app = QtGui.QApplication(sys.argv)
signal.signal(signal.SIGINT, exit_handler)
#d = display.display()
while True:
time.sleep(0.1)
temp = th02.readTemp()
time.sleep(0.1)
temp = th02.readTemp()
#temp = 0
time.sleep(0.1)
hum = th02.readHum()
time.sleep(0.1)
hum = th02.readHum()
#print('tempureture: %.2f , humidity: %.2f' % (temp, hum))
di = th02.outputDI(temp, hum)
#print('不快指数: %.2f \n' % di)
if di < 65:
led.blue()
elif di < 70:
led.cyan()
elif di < 75:
led.green()
elif di < 80:
led.yellow()
elif di < 85:
led.magenta()
elif di < 100:
led.red()
else:
led.white()
#d.initUI(temp, hum, di)
time.sleep(0.1)
def run():
with sr.Microphone() as source:
print("Please wait. Calibrating microphone...")
r.adjust_for_ambient_noise(source, duration=2)
while (True):
l.both_off()
l.green()
audio = r.listen(source)
l.both_off()
l.red()
try:
v_command = r.recognize_google(audio)
print("(recognize_google) Google thinks you said '" +
v_command + "'")
if wake_word in v_command:
espeak.synth("hi, I'm listening")
l.both_off()
l.cyan()
audio2 = r.listen(source)
l.both_off()
l.red()
try:
v_command2 = r.recognize_google(audio2)
print("(recognize_google) Google thinks you said '" +
v_command2 + "'")
if keywords[0] in v_command2:
say_time()
break
if keywords[1] in v_command2:
print("Say a course no.")
espeak.synth('Say a course number')
l.both_off()
l.cyan()
audio3 = r.listen(source)
l.both_off()
l.red()
course_id_str = r.recognize_google(audio3)
print(course_id_str)
try:
course_id = int(course_id_str)
say_class_schedule(course_id)
except ValueError:
print(
"I could not recognize any course number.")
break
except sr.UnknownValueError:
print("I could not understand audio")
except sr.UnknownValueError:
print("I could not understand audio")
async def read_gamepad_inputs():
global head_light_flag
print("Ready to drive!!")
turn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/turn-signal.mp3", card)
horn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/Horn.mp3", card)
while not is_connected():
time.sleep(2) # Wait 2 seconds for controller to come up and try again
while is_connected() and remote_control.button_b == False:
#print(" trigger_right = ", round(remote_control.trigger_right,2),end="\r")
x = round(remote_control.joystick_left_x, 2)
y = round(remote_control.joystick_left_y, 2)
angle = get_angle_from_coords(x, y)
if angle > 180:
angle = 360 - angle
#print("x:", x, " y:", y, " angle: ",angle,end="\r")
turn_head(angle)
direction = get_motor_direction(x, y)
y = adjust_speed(y, angle)
#print("x:", x, " y:", y, " direction: ",direction,end="\r")
drive_motor(direction, y)
if round(remote_control.trigger_right, 2) > 0.0:
horn_sound.play(1.0)
led.blue()
elif round(remote_control.trigger_left, 2) > 0.0:
led.cyan()
elif remote_control.bump_left:
turn_sound.play(1.0)
led.turn_left(5)
elif remote_control.bump_right:
turn_sound.play(1.0)
led.turn_right(5)
elif remote_control.dpad_up:
remote_control.dpad_up = False
elif remote_control.dpad_left:
remote_control.dpad_left = False
elif remote_control.dpad_right:
remote_control.dpad_right = False
elif remote_control.button_a:
remote_control.button_a = False
elif head_light_flag == False:
led.both_off()
led_strip.colorWipe(strip, Color(0, 0, 0))
if turn_sound.isPlaying():
turn_sound.stop()
await asyncio.sleep(100e-3) #100ms
return
def track_object(distance_stay, distance_range, speed_adj=0.4):
# distance_stay,distance_range in inches
#Tracking with Ultrasonic
motor.setup()
led.setup()
turn.ahead()
turn.middle()
dis = checkdist_inches()
if dis < distance_range: #Check if the target is in distance range
if dis > (
distance_stay + 4
): #If the target is in distance range and out of distance stay, then move forward to track
turn.ahead()
moving_time = (dis - distance_stay) / 0.38
if moving_time > 1:
moving_time = 1
print('mf')
led.both_off()
led.cyan()
motor.motor_left(status, backward,
int(left_spd * spd_ad_u * speed_adj))
motor.motor_right(status, forward,
int(right_spd * spd_ad_u * speed_adj))
time.sleep(moving_time)
motor.motorStop()
elif dis < (
distance_stay - 4
): #Check if the target is too close, if so, the car move back to keep distance at distance_stay
moving_time = (distance_stay - dis) / 0.38
print('mb')
led.both_off()
led.pink()
motor.motor_left(status, forward,
int(left_spd * spd_ad_u * spd_adj))
motor.motor_right(status, backward,
int(right_spd * spd_ad_u * spd_adj))
time.sleep(moving_time)
motor.motorStop()
else: #If the target is at distance, then the car stay still
motor.motorStop()
led.both_off()
led.yellow()
else:
motor.motorStop()
def test_led():
led.setup()
print("both_on()")
led.both_on()
time.sleep(3)
print("red()")
led.red()
time.sleep(3)
print("both_off()")
led.both_off()
time.sleep(1)
print("yellow()")
led.yellow()
time.sleep(3)
print("pink()")
led.pink()
time.sleep(3)
print("both_off()")
led.both_off()
time.sleep(1)
print("cyan()")
led.cyan()
time.sleep(3)
# Flashing in 2 cycles
print("police_on(2)")
led.police_on(2)
print("both_off()")
led.both_off()
time.sleep(3)
# Flashing in 6 seconds
print("police_on()")
led.police_on()
time.sleep(6) #6 seconds
led.police_off()
def loop(distance_stay,distance_range):
'''Tracking with Ultrasonic'''
motor.setup()
led.setup()
turn.ahead()
turn.middle()
dis = checkdist()
if dis < distance_range:
#Check if the target is in diatance range
if dis > (distance_stay+0.1) :
#If the target is in distance range and out of distance stay,
#then move forward to track
turn.ahead()
moving_time = (dis-distance_stay)/0.38 #??? magic number
if moving_time > 1:
moving_time = 1
print('mf')
led.both_off()
led.cyan()
motor.motor_left(status, backward,left_spd*spd_ad_u)
motor.motor_right(status,forward,right_spd*spd_ad_u)
time.sleep(moving_time)
motor.motorStop()
elif dis < (distance_stay-0.1) :
#Check if the target is too close,
#if so, the car move back to keep distance at distance_stay
moving_time = (distance_stay-dis)/0.38
print('mb')
led.both_off()
led.pink()
motor.motor_left(status, forward,left_spd*spd_ad_u)
motor.motor_right(status,backward,right_spd*spd_ad_u)
time.sleep(moving_time)
motor.motorStop()
else:
#If the target is at distance, then the car stay still
motor.motorStop()
led.both_off()
led.yellow()
else:
motor.motorStop()
def run():
global v_command
# obtain audio from the microphone
r = sr.Recognizer()
with sr.Microphone(device_index=2, sample_rate=48000) as source:
r.record(source, duration=2)
#r.adjust_for_ambient_noise(source)
led.both_off()
led.yellow()
print("Command?")
audio = r.listen(source)
led.both_off()
led.blue()
try:
v_command = r.recognize_sphinx(audio,
keyword_entries=[
('forward', 1.0), ('backward', 1.0),
('left', 1.0), ('right', 1.0),
('stop', 1.0)
]) #You can add your own command here
print(v_command)
led.both_off()
led.cyan()
except sr.UnknownValueError:
print("say again")
led.both_off()
led.red()
except sr.RequestError as e:
led.both_off()
led.red()
pass
#print('pre')
if 'forward' in v_command:
motor.motor_left(status, forward, left_spd * spd_ad_2)
motor.motor_right(status, backward, right_spd * spd_ad_2)
time.sleep(2)
motor.motorStop()
elif 'backward' in v_command:
motor.motor_left(status, backward, left_spd)
motor.motor_right(status, forward, right_spd)
time.sleep(2)
motor.motorStop()
elif 'left' in v_command:
turn.left()
motor.motor_left(status, forward, left_spd * spd_ad_2)
motor.motor_right(status, backward, right_spd * spd_ad_2)
time.sleep(2)
motor.motorStop()
elif "right" in v_command:
turn.right()
motor.motor_left(status, forward, left_spd * spd_ad_2)
motor.motor_right(status, backward, right_spd * spd_ad_2)
time.sleep(2)
motor.motorStop()
elif 'stop' in v_command:
motor.motorStop()
else:
pass
