def scan():
scanList = []
for i in range(10, 110, 10):
print 'i =', i
servo.setServo(i)
time.sleep(1)
scanList.append(us.getDistance())
servo.servoMiddle()
return scanList
def scan():
scan_list = []
dis = 0.0
for i in range(10, 100, 5):
servo.setServo(i)
time.sleep(0.5)
dis = us.getDistance()
while dis > 1000 or dis < 5:
print 'dis =', dis
dis = us.getDistance()
scan_list.append(dis)
servo.servoMiddle()
return scan_list
def find_obstacle():
print 'Finding Obstacles...'
dis = 0.0
for i in range(30, 80, 10):
servo.setServo(i)
time.sleep(0.5)
dis = us.getDistance()
while dis > 500 or dis < 5:
dis = us.getDistance()
if dis < critical_distance:
servo.servoMiddle()
print 'Obstacle Found !'
return True
servo.servoMiddle()
print 'No Obstacles !'
return False
print 'DELAY_360_RIGHT -0.001 =>', DELAY_360_RIGHT, 's'
elif keyp == '5':
print '================================================'
print 'DISTANCE =>', DISTANCE, 'cm'
print 'ANGLE =>', ANGLE, 'deg'
print 'CAR_SPEED_FORWARD =>', CAR_SPEED_FORWARD, 'cm/s'
print 'DELAY_360_RIGHT =>', DELAY_360_RIGHT, 's'
print 'DELAY_360_LEFT =>', DELAY_360_LEFT, 's'
print '================================================'
elif keyp == '0':
scanList = []
dis = 0.0
for i in range(10, 100, 10):
servo.setServo(i)
time.sleep(0.5)
dis = us.getDistance()
while dis > 1000 or dis < 5:
dis = us.getDistance()
scanList.append(dis)
servo.servoMiddle()
print ' === '.join(map(str, scanList))
elif keyp == 'x':
break
cleanup()
except KeyboardInterrupt:
cleanup()
car.Rreverse()
print 'Rreverse'
elif keyp == ' ':
car.stop()
print 'Stop'
# UltraSound Sensor
elif keyp == 't':
print 'distance =', us.getDistance(), "cm"
# Servo Motor
elif keyp == 'i':
position = 50
servo.setServo(position)
print 'Servo set to Middle Position'
elif keyp == 'o':
position = 0
servo.setServo(position)
print 'Servo set to Left Position'
elif keyp == 'p':
position = 100
servo.setServo(position)
print 'Servo set to Right Position'
elif keyp == 'y':
if position < 100:
position += step
servo.setServo(position)
print 'Servo Position +', step, '=', position
import tty
import termios
from socket import *
servo.init()
HOST = ''
PORT = 21567
BUFSIZE = 1024
ADDR = (HOST,PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM)
tcpSerSock.bind(ADDR)
tcpSerSock.listen(5)
while True:
print 'Waiting for connection'
tcpCliSock,addr = tcpSerSock.accept()
print '...connected from :', addr
try:
while True:
data = ''
data = tcpCliSock.recv(BUFSIZE)
if not data:
break
servo.setServo(int(data))
print 'Servo Position', '=', int(data)
except KeyboardInterrupt:
fun.stopServo()
fun.cleanup()
tcpSerSock.close();
def cleanup():
print 'Cleaning up Servo Motor ...'
servo.cleanup()
print 'Done Cleaning up Servo Motor.'
servo.init()
begin = 10
end = 90
print 'Servo Radar Program has Started ...'
try:
if begin < 0 :
begin = 0
if end > 100 :
end = 100
while True:
for x in range(begin, end):
servo.setServo(x)
time.sleep(0.005)
x=end
while x > begin:
servo.setServo(x)
time.sleep(0.005)
x -= 1
except KeyboardInterrupt:
cleanup()