def go_Forward(speed, running_time): global forward0, forward1 motor.setSpeed(speed) motor.motor0(forward0) motor.motor1(forward1) time.sleep(running_time) motor.stop()
def go_Backward(speed, running_time): global backward0, backward1 motor.setSpeed(speed) motor.motor0(backward0) motor.motor1(backward1) time.sleep(running_time) motor.stop()
def calibrate_motor_left_reverse(request): global forward0 if forward0 == "True": forward0 = "False" else: forward0 = "True" motor.motor0(forward0) text = 'left motor reverse to ', forward0 return HttpResponse(text)
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv( BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- else: print 'cmd error !'
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- else: print 'cmd error !'
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0)
def calibrate_motor_run(request): motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) return HttpResponse('Motors Runing')
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv( BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break # --------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) # -------------Added-------------- elif data == 'leftreverse': if forward0 == "True": forward0 = "False" else: forward0 = "True" print "left motor reversed to", forward0 motor.motor0(forward0) elif data == 'rightreverse': if forward1 == "True": forward1 = "False" else: forward1 = "True" print "right motor reversed to", forward1 motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() # --------------------------------- # -------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) # -------------------------------- # ----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) # ---------------------------------------- # -------Turing calibration 2------ elif data[0:7] == 'offset+': offset = offset + int(data[7:]) print 'Turning offset', offset car_dir.calibrate(offset) elif data[0:7] == 'offset-': offset = offset - int(data[7:]) print 'Turning offset', offset car_dir.calibrate(offset) # -------------------------------- # ----------Mount calibration 2--------- elif data[0:8] == 'offsetx+': offset_x = offset_x + int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsetx-': offset_x = offset_x - int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety+': offset_y = offset_y + int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety-': offset_y = offset_y - int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) # ---------------------------------------- # ----------Confirm-------------------- elif data == 'confirm': config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % ( offset_x, offset_y, offset, forward0, forward1) print '' print '*********************************' print ' You are setting config file to:' print '*********************************' print config print '*********************************' print '' fd = open('config', 'w') fd.write(config) fd.close() motor.stop() tcpCliSock.close() quit() else: print 'Command Error! Cannot recognize command: ' + data
motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) # -------------Added-------------- elif data == 'leftreverse': if forward0 == "True": forward0 = "False" else: forward0 = "True" print "left motor reversed to", forward0 motor.motor0(forward0) elif data == 'rightreverse': if forward1 == "True": forward1 = "False" else: forward1 = "True" print "right motor reversed to", forward1 motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:])
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) # -------------Added-------------- elif data == 'leftreverse': if forward0 == "True": forward0 = "False" else: forward0 = "True" print "left motor reversed to", forward0 motor.motor0(forward0) elif data == 'rightreverse': if forward1 == "True": forward1 = "False" else: forward1 = "True" print "right motor reversed to", forward1 motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- #-------Turing calibration 2------ elif data[0:7] == 'offset+': offset = offset + int(data[7:]) print 'Turning offset', offset car_dir.calibrate(offset) elif data[0:7] == 'offset-': offset = offset - int(data[7:]) print 'Turning offset', offset car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration 2--------- elif data[0:8] == 'offsetx+': offset_x = offset_x + int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsetx-': offset_x = offset_x - int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety+': offset_y = offset_y + int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety-': offset_y = offset_y - int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- #----------Confirm-------------------- elif data == 'confirm': config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (offset_x, offset_y, offset, forward0, forward1) print '' print '*********************************' print ' You are setting config file to:' print '*********************************' print config print '*********************************' print '' fd = open('config', 'w') fd.write(config) fd.close() motor.stop() tcpCliSock.close() quit() else: print 'Command Error! Cannot recognize command: ' + data
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv(BUFSIZ) # Reception données du client # Analyser les commandes reçues et contrôler VirJo if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) # -------------Added-------------- elif data == 'leftreverse': if forward0 == "True": forward0 = "False" else: forward0 = "True" print "left motor reversed to", forward0 motor.motor0(forward0) elif data == 'rightreverse': if forward1 == "True": forward1 = "False" else: forward1 = "True" print "right motor reversed to", forward1 motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- #-------Turing calibration 2------ elif data[0:7] == 'offset+': offset = offset + int(data[7:]) print 'Turning offset', offset car_dir.calibrate(offset) elif data[0:7] == 'offset-': offset = offset - int(data[7:]) print 'Turning offset', offset car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration 2--------- elif data[0:8] == 'offsetx+': offset_x = offset_x + int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsetx-': offset_x = offset_x - int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety+': offset_y = offset_y + int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety-': offset_y = offset_y - int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- #----------Confirm-------------------- elif data == 'confirm': config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % ( offset_x, offset_y, offset, forward0, forward1) print '' print '*********************************' print ' You are setting config file to:' print '*********************************' print config print '*********************************' print '' fd = open('config', 'w') fd.write(config) fd.close() motor.stop() tcpCliSock.close() quit() else: print 'Command Error! Cannot recognize command: ' + data
import motor import car_dir import time motor.setup(busnum=1) car_dir.setup() motor.setSpeed(50) motor.motor0('True') motor.motor1('True') t = time.time() while time.time() < t + 1: pass car_dir.turn_left() while time.time() < t + 1.5: pass car_dir.home() while time.time() < t + 2.5: pass motor.stop()
def backward(self, speed=50): """Similar to forward()""" motor.setSpeed(speed) motor.motor0('False') motor.motor1('False')
def forward(self, speed=50): """Will cause the car to start moving forward. Car will not stop until stop() is called""" motor.setSpeed(speed) motor.motor0('True') motor.motor1('True')