diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..9f11b75
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.idea/
diff --git a/.idea/dictionaries/Trive.xml b/.idea/dictionaries/Trive.xml
deleted file mode 100644
index 1c38218..0000000
--- a/.idea/dictionaries/Trive.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
- adafruit
- pygame
- smbus
- sudo
-
-
-
\ No newline at end of file
diff --git a/.idea/für Robotototo.iml b/.idea/für Robotototo.iml
deleted file mode 100644
index 1d3bd13..0000000
--- a/.idea/für Robotototo.iml
+++ /dev/null
@@ -1,12 +0,0 @@
-
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-
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-
-
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\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
deleted file mode 100644
index abd6203..0000000
--- a/.idea/inspectionProfiles/Project_Default.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
deleted file mode 100644
index 4f4d2c4..0000000
--- a/.idea/misc.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-
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-
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-
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\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
deleted file mode 100644
index 2f1f596..0000000
--- a/.idea/workspace.xml
+++ /dev/null
@@ -1,828 +0,0 @@
-
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\ No newline at end of file
diff --git a/Spyder-Controls.odt b/Manuals etc/Spyder-Controls.odt
similarity index 100%
rename from Spyder-Controls.odt
rename to Manuals etc/Spyder-Controls.odt
diff --git a/install.sh b/install.sh
index f056905..18e4a82 100644
--- a/install.sh
+++ b/install.sh
@@ -1,3 +1,4 @@
+#!/usr/bin/env bash
sudo apt update
sudo apt upgrade
sudo apt dist-upgrade
@@ -6,4 +7,5 @@ sudo apt install python-smbus
sudo apt install i2c-tools
sudo pip install adafruit-pca9685
sudo apt install vsftpd
-sudo apt install vlc
\ No newline at end of file
+sudo apt install vlc
+sudo modprobe bcm2835-v4l2
\ No newline at end of file
diff --git a/lib/__pycache__/graphiclib.cpython-36.pyc b/lib/__pycache__/graphiclib.cpython-36.pyc
new file mode 100644
index 0000000..9d62cc6
Binary files /dev/null and b/lib/__pycache__/graphiclib.cpython-36.pyc differ
diff --git a/lib/__pycache__/hardwarelib.cpython-36.pyc b/lib/__pycache__/hardwarelib.cpython-36.pyc
new file mode 100644
index 0000000..a4e8bc6
Binary files /dev/null and b/lib/__pycache__/hardwarelib.cpython-36.pyc differ
diff --git a/lib/__pycache__/ultrasonic.cpython-36.pyc b/lib/__pycache__/ultrasonic.cpython-36.pyc
new file mode 100644
index 0000000..12a7993
Binary files /dev/null and b/lib/__pycache__/ultrasonic.cpython-36.pyc differ
diff --git a/lib/controllib.py b/lib/controllib.py
new file mode 100644
index 0000000..a3398df
--- /dev/null
+++ b/lib/controllib.py
@@ -0,0 +1,99 @@
+import pygame, os
+
+class Joystick():
+
+ def __init__(self, navigator, light, configuration, camera):
+ #joystick
+ pygame.joystick.init()
+ joystick = pygame.joystick.Joystick(0)
+ joystick.init()
+ #sound
+ pygame.mixer.init()
+ sound = pygame.mixer.Sound('./sounds/gasgasgas.wav')
+ sound.set_volume(0.3)
+ self.camera = camera
+ self.sound = sound
+ self.joystick = joystick
+ self.navigator = navigator
+ self.light = light
+ self.configuration = configuration
+ self.pressed = []
+ self.splaying = False
+
+ def handle(self):
+ c = self.configuration
+ nav = self.navigator
+ dict = {}
+ #axes
+ for i in range(self.joystick.get_numaxes()):
+ axis = self.joystick.get_axis(i)
+ dict['Axis {}'.format(i)]=axis
+
+ if i==c['GAS'] and axis>0.1:
+ nav.forward()
+ elif i==c['GAS'] and axis<0.1:
+ nav.stop()
+ #buttons
+ for i in range(self.joystick.get_numbuttons()):
+ button = self.joystick.get_button(i)
+ dict['Button {}'.format(i)] = button
+
+ if i==c['LIGHT'] and button==1 and button not in self.pressed:
+ self.light.switch()
+ self.pressed.append(i)
+ elif i==c['LIGHT'] and button==0 and button in self.pressed:
+ self.pressed.remove(i)
+
+ elif i==c['MUSIC'] and button==1 and button not in self.pressed:
+ if self.splaying:
+ self.sound.stop()
+ self.splaying = False
+ else:
+ self.sound.play()
+ self.splaying = True
+ self.pressed.append(i)
+ elif i==c['MUSIC'] and button==0 and button in self.pressed:
+ self.pressed.remove(i)
+
+ elif i==c['VOLIN'] and button==1 and button not in self.pressed:
+ self.sound.set_volume(self.sound.get_volume()+0.1)
+ self.pressed.append(i)
+ elif i==c['VOLIN'] and button==0 and button in self.pressed:
+ self.sound.set_volume(self.sound.get_volume() - 0.1)
+ self.pressed.remove(i)
+
+ elif i==c['VOLDE'] and button==1 and button not in self.pressed:
+ self.pressed.append(i)
+ elif i==c['VOLDE'] and button==0 and button in self.pressed:
+ self.pressed.remove(i)
+
+ elif i==c['REC'] and button==1 and button not in self.pressed:
+ self._save_camimg()
+ self.pressed.append(i)
+ elif i==c['REC'] and button==0 and button in self.pressed:
+ self.pressed.remove(i)
+
+ #hats
+ for i in range(self.joystick.get_numhats()):
+ hat = self.joystick.get_hat(i)
+ dict['Hat {}'.format(i)] = hat
+
+ if hat==(-1,0):
+ nav.left()
+ elif hat==(1,0):
+ nav.right()
+ else:
+ nav.straight()
+
+ dict['Volume'] = self.sound.get_volume()
+ return dict
+
+
+ def _save_camimg(self):
+ img = self.camera.image
+ if os.path.isfile('image.jpg'):
+ count=0
+ while os.path.isfile('./images/img{}.jpg'.format(count)):
+ count+=1
+ os.rename('image.jpg', 'images/img{}.jpg'.format(count))
+ pygame.image.save(img, 'image.jpg')
\ No newline at end of file
diff --git a/lib/graphiclib.py b/lib/graphiclib.py
new file mode 100644
index 0000000..e056a3b
--- /dev/null
+++ b/lib/graphiclib.py
@@ -0,0 +1,81 @@
+import pygame, pygame.camera
+from pygame import *
+
+def render_text_line(image, color, font, text, pos = (0,0)):
+ render_text = font.render(text, 1, color)
+ image.blit(render_text, pos)
+
+class Screen:
+ """The Screen for the Terminal"""
+
+ def __init__(self, size = (100,100), title = "Screen"):
+ pygame.display.init()
+ self.size = size
+ self.screen = pygame.display.set_mode(self.size)
+ pygame.display.set_caption(title)
+
+
+ def refresh(self, rectangles=None):
+ pygame.display.update(rectangles)
+
+
+ def toggle_fullscreen(self):
+ if self.fullscreen:
+ pygame.display.set_mode(self.size)
+ self.fullscreen = False
+ else:
+ displayinfo = pygame.display.Info()
+ fullsize = (displayinfo.current_w, displayinfo.current_h)
+ pygame.display.set_mode(fullsize, FULLSCREEN | DOUBLEBUF)
+ self.fullscreen = True
+
+
+class List(pygame.sprite.Sprite):
+ """A List that shows the values of the terminal"""
+
+ def __init__(self, position, size):
+ pygame.sprite.Sprite.__init__(self)
+ pygame.font.init()
+ self.size = size
+ self.image = pygame.Surface(self.size)
+ self.image.fill((0,0,0))
+ self.rect = self.image.get_rect()
+ self.rect.topleft = position
+ self.font = pygame.font.SysFont('Arial',25)
+ self.dict = {}
+ self.updated = True
+ self.txtsize = self.font.size('__||__')
+
+
+ def set_dict(self, dict):
+ self.dict = dict
+ self.updated = True
+
+ def update(self, *args):
+ if self.updated:
+ height = 0
+
+ for key in self.dict.keys():
+ line = '{}: {}'.format(key, self.dict[key])
+ render_text_line(self.image, (255, 255, 255), self.font, line, (0,height))
+ height+=self.txtsize[1]
+
+ self.updated = False
+
+class PiCamera(pygame.sprite.Sprite):
+ """The Picamera as pygame cam"""
+
+ def __init__(self, position, size):
+ pygame.sprite.Sprite.__init__(self)
+ pygame.camera.init()
+ cam_list = pygame.camera.list_cameras()
+ camera = pygame.camera.Camera(cam_list[0], size)
+ self.camera = camera
+ self.size = size
+ self.image = pygame.Surface(self.size)
+ self.image.fill((0, 0, 0))
+ self.rect = self.image.get_rect()
+ self.rect.topleft = position
+
+ def update(self, *args):
+ self.camera.get_image(self.image)
\ No newline at end of file
diff --git a/gyro.py b/lib/gyro.py
similarity index 100%
rename from gyro.py
rename to lib/gyro.py
diff --git a/gyro_test.py b/lib/gyro_test.py
similarity index 78%
rename from gyro_test.py
rename to lib/gyro_test.py
index 068a375..22c5f66 100644
--- a/gyro_test.py
+++ b/lib/gyro_test.py
@@ -1,4 +1,4 @@
-import gyro
+from lib import gyro
import time
while True:
print(gyro.getAllOut()['rot'])
diff --git a/lib/hardwarelib.py b/lib/hardwarelib.py
new file mode 100644
index 0000000..513b06f
--- /dev/null
+++ b/lib/hardwarelib.py
@@ -0,0 +1,93 @@
+from subprocess import call, check_output
+from lib import ultrasonic
+import RPi.GPIO as GPIO
+
+class Navigator():
+ """Forward Motor with relais, Steering with servo"""
+
+ def __init__(self, mrelaispin):
+ self.mrelpin = mrelaispin
+ self.steer = None
+ GPIO.setup(self.mrelpin, GPIO.OUT)
+ self.stop()
+
+
+ def left(self):
+ if self.steer != 'left':
+ call(['python', './lib/servolib.py', 'left'])
+ self.steer = 'left'
+
+
+ def right(self):
+ if self.steer != 'right':
+ call(['python', './lib/servolib.py', 'right'])
+ self.steer = 'right'
+
+
+ def straight(self):
+ if self.steer:
+ call(['python', './lib/servolib.py'])
+ self.steer = None
+
+
+ def forward(self):
+ GPIO.output(self.mrelpin, False)
+
+
+ def stop(self):
+ GPIO.output(self.mrelpin, True)
+
+
+class Light:
+ """Light switched with a relais"""
+
+ def __init__(self, lightpin):
+ self.pin = lightpin
+ GPIO.setup(self.pin, GPIO.OUT)
+ GPIO.output(self.pin, True)
+ self.shine = False
+
+
+ def switch(self):
+ GPIO.output(self.pin, not self.shine)
+ self.shine = not self.shine
+
+
+ def switch_on(self):
+ GPIO.output(self.pin, False)
+
+
+ def switch_of(self):
+ GPIO.output(self.pin, True)
+
+
+class Ultrasonic:
+ """A ultrasonic sensor"""
+
+ def __init__(self, trigger, echo):
+ self.sensor =ultrasonic.Sensor()
+ self.sensor.init(trigger, echo)
+
+
+ def get_distance(self):
+ distance = self.sensor.echo()
+ return distance
+
+
+ def __del__(self):
+ self.sensor.clean()
+
+
+class Temperature:
+ """A temperature sensor"""
+
+ def get_Temperature(self):
+ outp = check_output(['python','-u','./lib/thermolib.py']).decode('ISO-8859-1')
+ temp, hum = outp.split('|')
+ return temp
+
+
+ def get_Humidity(self):
+ outp = check_output(['python','-u','./lib/thermolib.py']).decode('ISO-8859-1')
+ temp, hum = outp.split('|')
+ return hum
\ No newline at end of file
diff --git a/motor.py b/lib/motor.py
similarity index 100%
rename from motor.py
rename to lib/motor.py
diff --git a/motors.py b/lib/motors.py
similarity index 100%
rename from motors.py
rename to lib/motors.py
diff --git a/servo_2.py b/lib/servolib.py
similarity index 100%
rename from servo_2.py
rename to lib/servolib.py
diff --git a/lib/thermolib.py b/lib/thermolib.py
new file mode 100644
index 0000000..1e85e3d
--- /dev/null
+++ b/lib/thermolib.py
@@ -0,0 +1,8 @@
+import Adafruit_DHT
+
+def main():
+ humidity, temperature = Adafruit_DHT.read_retry(11, 14)
+ print '{}|{}'.format(temperature, humidity)
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/ultrasonic.py b/lib/ultrasonic.py
similarity index 100%
rename from ultrasonic.py
rename to lib/ultrasonic.py
diff --git a/lib/ultrasonic_test.py b/lib/ultrasonic_test.py
new file mode 100644
index 0000000..3d8df4f
--- /dev/null
+++ b/lib/ultrasonic_test.py
@@ -0,0 +1,7 @@
+from lib import ultrasonic
+
+sensor= ultrasonic.Sensor()
+sensor.init(11,7)
+print('Beginn der Messung')
+print(sensor.echo())
+sensor.clean()
\ No newline at end of file
diff --git a/main.py b/main.py
index 46ef9b2..144d49f 100644
--- a/main.py
+++ b/main.py
@@ -1,364 +1,46 @@
-import pygame, picamera, ultrasonic#,gyro
-from datetime import datetime
-from subprocess import call
-import RPi.GPIO as GPIO
-
-
-
-# Define some colors
-BLACK = ( 0, 0, 0)
-WHITE = ( 255, 255, 255)
-# --ultrasonic--
-sensor=ultrasonic.Sensor()
-sensor.init(11,7)
-# -- Nightmode
-# WHITE, BLACK=BLACK,WHITE
-# Pins BCM
-motor = 16
-lightpin=15
-#
-# --config--
-use_camera=False
-use_gyro_preview=False
-#--
-forpress = False
-light = False
-lpress = False
-play = False
-ppress = False
-voluppress = False
-voldopress = False
-recpress=False
-recording=False
-left=False
-right=False
-lastContact=datetime.now()
-if use_camera:
- cam = picamera.PiCamera()
-
-top_view = pygame.image.load('top_view.png')
-top_view= pygame.transform.scale(top_view, (192, 108))
-
-# Axis
-GAS = 5
-STOP = 2
-
-# Buttons
-MUSIC = 1
-LIGHT = 0
-VOLUP = 5
-VOLDO = 4
-RECSTART = 3
-
-# setup the relais
-GPIO.setup(motor,GPIO.OUT)
-GPIO.setup(lightpin,GPIO.OUT)
-GPIO.output(motor,True)
-GPIO.output(lightpin, True)
-# ____________________________
-# -- driving functions
-def drive_forw():
- GPIO.output(motor,False)
- return
-
-def drive_backw():
- print(drive_backw)
- return
-
-def reset_dire():
- GPIO.output(motor,True)
- return
-
-def drive_left():
- if not left:
- call(['python', 'servo_2.py','left'])
- return
-
-def drive_right():
- if not right:
- call(['python', 'servo_2.py','right'])
- return
-
-def reset_turn():
- if left or right:
- call(['python','servo_2.py'])
- return
-# ____________________________
-# -- special functions
-def turn_light(shine):
- if shine:
- GPIO.output(lightpin, False)
- else:
- GPIO.output(lightpin, True)
- return
-
-def turn_rec(*record):
- #if record:
- #cam.start_recording('record.h264')
- #return
- #else:
- #cam.stop_recording()
- #return
- if use_camera:
- try:
- cam.capture('image.jpg', resize=(192 * 2, 108 * 2))
- cam.capture("./Images/image{}.jpg".format(str(datetime.now()).replace(':','_')))
- except Exception as error:
- print(error)
-
-def imgRefresh():
- #turn_rec(True)
- try:
- image = pygame.image.load('image.jpg')
- image = pygame.transform.scale(image, (192*2, 108*2))
- except:
- pass
- screen.blit(image, (500, 10))
- #gyro_output = gyro.getAllOut()
- #rotation = gyro_output['rot']
- if use_gyro_preview:
- top_view = pygame.image.load('top_view.png')
- # The scaling of the top_view Spider
- scal_x = abs(int(192 * ((abs(rotation[0]) / 90) - 1)))
- scal_y = abs(int(108 * ((abs(rotation[1]) / 90) - 1)) - 1)
- top_view = pygame.transform.scale(top_view, (scal_x, scal_y))
- screen.blit(top_view, (550 - (scal_x / 2), 300 - (scal_y / 2)))
-
-def printDriveData():
- textPrint.print(screen,"")
- textPrint.print(screen,"Sound Information")
- textPrint.print(screen, " Sound: {}".format(play))
- textPrint.print(screen, " Volume: {}".format(sound.get_volume()))
- textPrint.print(screen, "Light: {}".format(light))
- textPrint.print(screen, "Last Controller Input: {}".format((datetime.now()-lastContact).seconds))
- #gyro_output=gyro.getAllOut()
- #rotation=gyro_output['rot']
- #textPrint.print(screen, "Rotation: X:{}; Y:{}".format(rotation[0],rotation[1]))
- #acceleration = gyro_output['acc_sca']
- #textPrint.print(screen, "Acceleration: X:{}; Y:{}; Z:{}".format(acceleration[0], acceleration[1],acceleration[2]))
- distance=sensor.echo()
- textPrint.print(screen, "Distance: {} cm".format(distance))
- #if distance<40:
- # turn_rec()
-
-def doSubroutine():
- if abs((datetime.now()-lastContact).seconds)==30:
- print('Contact Lost')
- imgRefresh()
-
-# ____________________________
-class TextPrint:
- def __init__(self):
- self.reset()
- self.font = pygame.font.Font(None, 20)
-
- def print(self, screen, textString):
- textBitmap = self.font.render(textString, True, BLACK)
- screen.blit(textBitmap, [self.x, self.y])
- self.y += self.line_height
-
- def reset(self):
- self.x = 10
- self.y = 10
- self.line_height = 15
-
- def indent(self):
- self.x += 10
-
- def unindent(self):
- self.x -= 10
-
-pygame.init()
-
-# ________________________
-# -- music playback
-pygame.mixer.init()
-sound=pygame.mixer.Sound('./gasgasgas.wav')
-sound.set_volume(0.3)
-# ________________________
-
-# Set the width and height of the screen [width,height]
-size = [1000, 700]
-screen = pygame.display.set_mode(size)
-
-pygame.display.set_caption("SPYDER STEUERZENTRALE")
-
-# Loop until the user clicks the close button.
-done = False
-
-# Used to manage how fast the screen updates
-clock = pygame.time.Clock()
-
-# Initialize the joysticks
-pygame.joystick.init()
-
-# Get ready to print
-textPrint = TextPrint()
-turn_rec(True)
-image=pygame.image.load('image.jpg')
-image=pygame.transform.scale(image,(192*2,108*2))
-count=0
-
-# -------- Main Program Loop -----------
-while done==False:
- # EVENT PROCESSING STEP
- for event in pygame.event.get(): # User did something
- if event.type == pygame.QUIT: # If user clicked close
- done=True # Flag that we are done so we exit this loop
-
- # Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTIO
-
-
- # DRAWING STEP
- # First, clear the screen to white. Don't put other drawing commands
- # above this, or they will be erased with this command.
- screen.fill(WHITE)
- textPrint.reset()
-
- # Get count of joysticks
- joystick_count = pygame.joystick.get_count()
-
- textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
- textPrint.indent()
-
- # For each joystick:
- for i in range(joystick_count):
- joystick = pygame.joystick.Joystick(i)
- joystick.init()
-
- textPrint.print(screen, "Joystick {}".format(i) )
- textPrint.indent()
-
- # Get the name from the OS for the controller/joystick
- #name = joystick.get_name()
- #textPrint.print(screen, "Joystick name: {}".format(name) )
-
- # Usually axis run in pairs, up/down for one, and left/right for
- # the other.
- axes = joystick.get_numaxes()
- textPrint.print(screen, "Number of axes: {}".format(axes) )
- textPrint.indent()
-
- for i in range( axes ):
- axis = joystick.get_axis( i )
- textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
- if i==STOP and axis>0.1:
- print('STOP')
- drive_backw()
- lastContact=datetime.now()
- elif i==GAS and axis>0.1:
- print('GAS')
- if not forpress:
- drive_forw()
- forpress=True
- lastContact=datetime.now()
- elif i==GAS and axis<0.1:
- if forpress:
- reset_dire()
- print('RESETDRIVE')
- forpress=False
-
- textPrint.unindent()
-
- buttons = joystick.get_numbuttons()
- textPrint.print(screen, "Number of buttons: {}".format(buttons) )
- textPrint.indent()
-
- for i in range( buttons ):
- button = joystick.get_button( i )
- textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
- if button==1:
- lastContact=datetime.now()
- #if i==7 and button==1:
- # print('GAS')
- # drive_forw()
- #elif i==6 and button==1:
- # print('STOP')
- # drive_backw()
- if i==LIGHT and button==1 and not lpress:
- light=not light
- lpress=True
- turn_light(light)
- print('Light: {}'.format(light))
- elif i==LIGHT and button==0:
- lpress=False
- elif i==MUSIC and button==1 and not play and not ppress:
- ppress=True
- sound.play()
- play=True
- print('Sound: {}'.format(play))
- elif i==MUSIC and button==1 and play and not ppress:
- ppress=True
- sound.stop()
- play=False
- print('Sound: {}'.format(play))
- elif i==MUSIC and button==0 and ppress:
- ppress=False
- elif i==VOLUP and button==1 and not voluppress:
- sound.set_volume(sound.get_volume()+0.1)
- print('Volume: {}'.format(sound.get_volume()))
- voluppress=True
- elif i==VOLUP and button==0:
- voluppress=False
- elif i== VOLDO and button==0:
- voldopress=False
- elif i==VOLDO and button==1 and not voldopress:
- sound.set_volume(sound.get_volume()-0.1)
- print('Volume: {}'.format(sound.get_volume()))
- voldopress=True
- elif i==RECSTART and button==1 and not recpress:
- recording=not recording
- turn_rec(recording)
- print('Recording: {}'.format(recording))
- recpress=True
- elif i==RECSTART and button==0:
- recpress=False
-
- textPrint.unindent()
-
- # Hat switch. All or nothing for direction, not like joysticks.
- # Value comes back in an array.
- hats = joystick.get_numhats()
- textPrint.print(screen, "Number of hats: {}".format(hats) )
- textPrint.indent()
-
- for i in range( hats ):
- hat = joystick.get_hat( i )
- textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
- if hat==(-1,0):
- print('LEFT')
- drive_left()
- left=True
- right=False
- lastContact=datetime.now()
- elif hat==(1,0):
- print('RIGHT')
- drive_right()
- right=True
- left=False
- lastContact=datetime.now()
- else:
- reset_turn()
- left=False
- right=False
- textPrint.unindent()
-
- textPrint.unindent()
-
- printDriveData()
- doSubroutine()
-
-
- # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
-
- # Go ahead and update the screen with what we've drawn.
- pygame.display.flip()
-
- # Limit to 20 frames per second
- clock.tick(20)
-
-# Close the window and quit.
-# If you forget this line, the program will 'hang'
-# on exit if running from IDLE.
-sensor.clean()
-pygame.quit ()
+import pygame, time
+from lib import graphiclib, hardwarelib, controllib
+
+configuration = {
+ 'GAS':5,
+ 'STOP':2,
+ 'MUSIC':1,
+ 'LIGHT':0,
+ 'VOLIN':5,
+ 'VOLDE':4,
+ 'REC':3
+}
+
+def main():
+ navigator = hardwarelib.Navigator(16)
+ light = hardwarelib.Light(15)
+ ultrasonic = hardwarelib.Ultrasonic(11,7)
+ temperature = hardwarelib.Temperature()
+ camera = graphiclib.PiCamera((500, 0), (500, 1000))
+ jstick = controllib.Joystick(navigator, light, configuration, camera)
+
+ #pygame stuff
+ screen = graphiclib.Screen(size=(1000,1000))
+ all_sprites = pygame.sprite.RenderUpdates()
+ list = graphiclib.List((0,0),(500,1000))
+ all_sprites.add(list)
+ all_sprites.add(camera)
+ clock = pygame.time.Clock()
+ running = True
+
+ while running:
+ clock.tick(25)
+ for event in pygame.event.get():
+ if event.type == pygame.QUIT:
+ running = False
+
+ dict = jstick.handle()
+ list.set_dict(dict)
+ all_sprites.update()
+ update_rects = all_sprites.draw(screen.screen)
+ screen.refresh(rectangles= update_rects)
+ pygame.quit()
+
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/main_old.py b/main_old.py
new file mode 100644
index 0000000..d8a34db
--- /dev/null
+++ b/main_old.py
@@ -0,0 +1,366 @@
+import pygame, picamera #,gyro
+from lib import ultrasonic
+from datetime import datetime
+from subprocess import call
+import RPi.GPIO as GPIO
+
+
+
+# Define some colors
+BLACK = ( 0, 0, 0)
+WHITE = ( 255, 255, 255)
+# --ultrasonic--
+sensor= ultrasonic.Sensor()
+sensor.init(11,7)
+# -- Nightmode
+# WHITE, BLACK=BLACK,WHITE
+# Pins BCM
+motor = 16
+lightpin=15
+#
+# --config--
+use_camera=False
+use_gyro_preview=False
+#--
+forpress = False
+light = False
+lpress = False
+play = False
+ppress = False
+voluppress = False
+voldopress = False
+recpress=False
+recording=False
+left=False
+right=False
+lastContact=datetime.now()
+if use_camera:
+ cam = picamera.PiCamera()
+
+top_view = pygame.image.load('top_view.png')
+top_view= pygame.transform.scale(top_view, (192, 108))
+
+# Axis
+GAS = 5
+STOP = 2
+
+# Buttons
+MUSIC = 1
+LIGHT = 0
+VOLUP = 5
+VOLDO = 4
+RECSTART = 3
+
+# setup the relais
+GPIO.setup(motor,GPIO.OUT)
+GPIO.setup(lightpin,GPIO.OUT)
+GPIO.output(motor,True)
+GPIO.output(lightpin, True)
+# ____________________________
+# -- driving functions
+def drive_forw():
+ GPIO.output(motor,False)
+ return
+
+def drive_backw():
+ print(drive_backw)
+ return
+
+def reset_dire():
+ GPIO.output(motor,True)
+ return
+
+def drive_left():
+ if not left:
+ call(['python', './lib/servolib.py','left'])
+ return
+
+def drive_right():
+ if not right:
+ call(['python', './lib/servolib.py','right'])
+ return
+
+def reset_turn():
+ if left or right:
+ call(['python','./lib/servolib.py'])
+ return
+# ____________________________
+# -- special functions
+def turn_light(shine):
+ if shine:
+ GPIO.output(lightpin, False)
+ else:
+ GPIO.output(lightpin, True)
+ return
+
+def turn_rec(*record):
+ #if record:
+ #cam.start_recording('record.h264')
+ #return
+ #else:
+ #cam.stop_recording()
+ #return
+ if use_camera:
+ try:
+ cam.capture('image.jpg', resize=(192 * 2, 108 * 2))
+ cam.capture("./Images/image{}.jpg".format(str(datetime.now()).replace(':','_')))
+ except Exception as error:
+ print(error)
+
+def imgRefresh():
+ #turn_rec(True)
+ image = None
+ try:
+ image = pygame.image.load('image.jpg')
+ image = pygame.transform.scale(image, (192*2, 108*2))
+ except:
+ pass
+ screen.blit(image, (500, 10))
+ #gyro_output = gyro.getAllOut()
+ #rotation = gyro_output['rot']
+ if use_gyro_preview:
+ top_view = pygame.image.load('top_view.png')
+ # The scaling of the top_view Spider
+ scal_x = abs(int(192 * ((abs(rotation[0]) / 90) - 1)))
+ scal_y = abs(int(108 * ((abs(rotation[1]) / 90) - 1)) - 1)
+ top_view = pygame.transform.scale(top_view, (scal_x, scal_y))
+ screen.blit(top_view, (550 - (scal_x / 2), 300 - (scal_y / 2)))
+
+def printDriveData():
+ textPrint.print(screen,"")
+ textPrint.print(screen,"Sound Information")
+ textPrint.print(screen, " Sound: {}".format(play))
+ textPrint.print(screen, " Volume: {}".format(sound.get_volume()))
+ textPrint.print(screen, "Light: {}".format(light))
+ textPrint.print(screen, "Last Controller Input: {}".format((datetime.now()-lastContact).seconds))
+ #gyro_output=gyro.getAllOut()
+ #rotation=gyro_output['rot']
+ #textPrint.print(screen, "Rotation: X:{}; Y:{}".format(rotation[0],rotation[1]))
+ #acceleration = gyro_output['acc_sca']
+ #textPrint.print(screen, "Acceleration: X:{}; Y:{}; Z:{}".format(acceleration[0], acceleration[1],acceleration[2]))
+ distance=sensor.echo()
+ textPrint.print(screen, "Distance: {} cm".format(distance))
+ #if distance<40:
+ # turn_rec()
+
+def doSubroutine():
+ if abs((datetime.now()-lastContact).seconds)==30:
+ print('Contact Lost')
+ imgRefresh()
+
+# ____________________________
+class TextPrint:
+ def __init__(self):
+ self.reset()
+ self.font = pygame.font.Font(None, 20)
+
+ def print(self, screen, textString):
+ textBitmap = self.font.render(textString, True, BLACK)
+ screen.blit(textBitmap, [self.x, self.y])
+ self.y += self.line_height
+
+ def reset(self):
+ self.x = 10
+ self.y = 10
+ self.line_height = 15
+
+ def indent(self):
+ self.x += 10
+
+ def unindent(self):
+ self.x -= 10
+
+pygame.init()
+
+# ________________________
+# -- music playback
+pygame.mixer.init()
+sound=pygame.mixer.Sound('./sounds/gasgasgas.wav')
+sound.set_volume(0.3)
+# ________________________
+
+# Set the width and height of the screen [width,height]
+size = [1000, 700]
+screen = pygame.display.set_mode(size)
+
+pygame.display.set_caption("SPYDER STEUERZENTRALE")
+
+# Loop until the user clicks the close button.
+done = False
+
+# Used to manage how fast the screen updates
+clock = pygame.time.Clock()
+
+# Initialize the joysticks
+pygame.joystick.init()
+
+# Get ready to print
+textPrint = TextPrint()
+turn_rec(True)
+image=pygame.image.load('image.jpg')
+image=pygame.transform.scale(image,(192*2,108*2))
+count=0
+
+# -------- Main Program Loop -----------
+while done==False:
+ # EVENT PROCESSING STEP
+ for event in pygame.event.get(): # User did something
+ if event.type == pygame.QUIT: # If user clicked close
+ done=True # Flag that we are done so we exit this loop
+
+ # Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTIO
+
+
+ # DRAWING STEP
+ # First, clear the screen to white. Don't put other drawing commands
+ # above this, or they will be erased with this command.
+ screen.fill(WHITE)
+ textPrint.reset()
+
+ # Get count of joysticks
+ joystick_count = pygame.joystick.get_count()
+
+ textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
+ textPrint.indent()
+
+ # For each joystick:
+ for i in range(joystick_count):
+ joystick = pygame.joystick.Joystick(i)
+ joystick.init()
+
+ textPrint.print(screen, "Joystick {}".format(i) )
+ textPrint.indent()
+
+ # Get the name from the OS for the controller/joystick
+ #name = joystick.get_name()
+ #textPrint.print(screen, "Joystick name: {}".format(name) )
+
+ # Usually axis run in pairs, up/down for one, and left/right for
+ # the other.
+ axes = joystick.get_numaxes()
+ textPrint.print(screen, "Number of axes: {}".format(axes) )
+ textPrint.indent()
+
+ for i in range( axes ):
+ axis = joystick.get_axis( i )
+ textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
+ if i==STOP and axis>0.1:
+ print('STOP')
+ drive_backw()
+ lastContact=datetime.now()
+ elif i==GAS and axis>0.1:
+ print('GAS')
+ if not forpress:
+ drive_forw()
+ forpress=True
+ lastContact=datetime.now()
+ elif i==GAS and axis<0.1:
+ if forpress:
+ reset_dire()
+ print('RESETDRIVE')
+ forpress=False
+
+ textPrint.unindent()
+
+ buttons = joystick.get_numbuttons()
+ textPrint.print(screen, "Number of buttons: {}".format(buttons) )
+ textPrint.indent()
+
+ for i in range( buttons ):
+ button = joystick.get_button( i )
+ textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
+ if button==1:
+ lastContact=datetime.now()
+ #if i==7 and button==1:
+ # print('GAS')
+ # drive_forw()
+ #elif i==6 and button==1:
+ # print('STOP')
+ # drive_backw()
+ if i==LIGHT and button==1 and not lpress:
+ light=not light
+ lpress=True
+ turn_light(light)
+ print('Light: {}'.format(light))
+ elif i==LIGHT and button==0:
+ lpress=False
+ elif i==MUSIC and button==1 and not play and not ppress:
+ ppress=True
+ sound.play()
+ play=True
+ print('Sound: {}'.format(play))
+ elif i==MUSIC and button==1 and play and not ppress:
+ ppress=True
+ sound.stop()
+ play=False
+ print('Sound: {}'.format(play))
+ elif i==MUSIC and button==0 and ppress:
+ ppress=False
+ elif i==VOLUP and button==1 and not voluppress:
+ sound.set_volume(sound.get_volume()+0.1)
+ print('Volume: {}'.format(sound.get_volume()))
+ voluppress=True
+ elif i==VOLUP and button==0:
+ voluppress=False
+ elif i== VOLDO and button==0:
+ voldopress=False
+ elif i==VOLDO and button==1 and not voldopress:
+ sound.set_volume(sound.get_volume()-0.1)
+ print('Volume: {}'.format(sound.get_volume()))
+ voldopress=True
+ elif i==RECSTART and button==1 and not recpress:
+ recording=not recording
+ turn_rec(recording)
+ print('Recording: {}'.format(recording))
+ recpress=True
+ elif i==RECSTART and button==0:
+ recpress=False
+
+ textPrint.unindent()
+
+ # Hat switch. All or nothing for direction, not like joysticks.
+ # Value comes back in an array.
+ hats = joystick.get_numhats()
+ textPrint.print(screen, "Number of hats: {}".format(hats) )
+ textPrint.indent()
+
+ for i in range( hats ):
+ hat = joystick.get_hat( i )
+ textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
+ if hat==(-1,0):
+ print('LEFT')
+ drive_left()
+ left=True
+ right=False
+ lastContact=datetime.now()
+ elif hat==(1,0):
+ print('RIGHT')
+ drive_right()
+ right=True
+ left=False
+ lastContact=datetime.now()
+ else:
+ reset_turn()
+ left=False
+ right=False
+ textPrint.unindent()
+
+ textPrint.unindent()
+
+ printDriveData()
+ doSubroutine()
+
+
+ # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
+
+ # Go ahead and update the screen with what we've drawn.
+ pygame.display.flip()
+
+ # Limit to 20 frames per second
+ clock.tick(20)
+
+# Close the window and quit.
+# If you forget this line, the program will 'hang'
+# on exit if running from IDLE.
+sensor.clean()
+pygame.quit ()
diff --git a/gasgasgas.wav b/sounds/gasgasgas.wav
similarity index 100%
rename from gasgasgas.wav
rename to sounds/gasgasgas.wav
diff --git a/thermo.py b/thermo.py
deleted file mode 100644
index 7524db8..0000000
--- a/thermo.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import sys
-import Adafruit_DHT
-
-while True:
-
- humidity, temperature = Adafruit_DHT.read_retry(11, 14)
-
- print 'Temp: {} C Humidity: {} %'.format(temperature, humidity)
\ No newline at end of file
diff --git a/ultrasonic_test.py b/ultrasonic_test.py
deleted file mode 100644
index 4f210db..0000000
--- a/ultrasonic_test.py
+++ /dev/null
@@ -1,6 +0,0 @@
-import ultrasonic
-sensor=ultrasonic.Sensor()
-sensor.init(11,7)
-print('Beginn der Messung')
-print(sensor.echo())
-sensor.clean()
\ No newline at end of file
diff --git a/update.sh b/update.sh
new file mode 100644
index 0000000..fb4ab47
--- /dev/null
+++ b/update.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+cd ..
+if [ -d "spydian/" ];then
+ sudo git clone https://bitbucket.org/trivernis/spydian.git spydian_update
+ sudo rsync -a ./spydian_update/ ./spydian/
+ sudo rm -r ./spydian_update/
+ sudo chmod -R u+rw ./spydian/
+ exit 0
+else
+ sudo git clone https://bitbucket.org/trivernis/spydian.git spydian
+ sudo chmod -R u+rw ./spydian/
+ exit 0
+fi
\ No newline at end of file