commit 403a54058d2dde1a1c813a91df69b1dac27e1a26
Author: Trivernis <trivernis@hotmail.de>
Date:   Tue Jan 2 13:39:01 2018 +0100

     - uploaded files

diff --git a/.idea/dictionaries/Trive.xml b/.idea/dictionaries/Trive.xml
new file mode 100644
index 0000000..1c38218
--- /dev/null
+++ b/.idea/dictionaries/Trive.xml
@@ -0,0 +1,10 @@
+<component name="ProjectDictionaryState">
+  <dictionary name="Trive">
+    <words>
+      <w>adafruit</w>
+      <w>pygame</w>
+      <w>smbus</w>
+      <w>sudo</w>
+    </words>
+  </dictionary>
+</component>
\ No newline at end of file
diff --git a/.idea/für Robotototo.iml b/.idea/für Robotototo.iml
new file mode 100644
index 0000000..1d3bd13
--- /dev/null
+++ b/.idea/für Robotototo.iml	
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="Python 3.6.4 (~/anaconda3/bin/python)" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="TestRunnerService">
+    <option name="projectConfiguration" value="Nosetests" />
+    <option name="PROJECT_TEST_RUNNER" value="Nosetests" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..abd6203
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,12 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyUnresolvedReferencesInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredIdentifiers">
+        <list>
+          <option value="Adafrouit_PCA9685" />
+        </list>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..4f4d2c4
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6.4 (~/anaconda3/bin/python)" project-jdk-type="Python SDK" />
+  <component name="masterDetails">
+    <states>
+      <state key="ScopeChooserConfigurable.UI">
+        <settings>
+          <splitter-proportions>
+            <option name="proportions">
+              <list>
+                <option value="0.2" />
+              </list>
+            </option>
+          </splitter-proportions>
+        </settings>
+      </state>
+    </states>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..848246d
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/für Robotototo.iml" filepath="$PROJECT_DIR$/.idea/für Robotototo.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
new file mode 100644
index 0000000..2f1f596
--- /dev/null
+++ b/.idea/workspace.xml
@@ -0,0 +1,828 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ChangeListManager">
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+    <option name="TRACKING_ENABLED" value="true" />
+    <option name="SHOW_DIALOG" value="false" />
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+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
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+  <component name="FavoritesManager">
+    <favorites_list name="für Robotototo" />
+  </component>
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+    <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
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diff --git a/Manuals etc/TODO.txt b/Manuals etc/TODO.txt
new file mode 100644
index 0000000..81ecd50
--- /dev/null
+++ b/Manuals etc/TODO.txt	
@@ -0,0 +1,19 @@
+--Motoren--
+3V an VCC, 5V an V+
+5V aus externer Quelle, nicht PI -> zu große Schwankungen durch Servomotor
+Schrittmotoren für Räder, Servomotoren für Zusatz
+
+--Gyro--
+Messung von Lage und Beschleunigung
+kann grobes Bodenprofil erstellen
+
+--Ultraschall--
+Messung von Entfernungen zu Objekten
+zur Erstellung von 3d Raumkarte (Experimentell)
+kann an Schrittmotor angeschlossen werden -> zur Drehung
+
+--Lautsprecher--
+Benötigt für Soundwiedergabe
+
+--Controller--
+Input von Gerät zu Gerät verschieden
\ No newline at end of file
diff --git a/gasgasgas.wav b/gasgasgas.wav
new file mode 100644
index 0000000..4de01c6
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diff --git a/gyro.py b/gyro.py
new file mode 100644
index 0000000..61ed378
--- /dev/null
+++ b/gyro.py
@@ -0,0 +1,56 @@
+# !/usr/bin/python
+import smbus
+import math
+
+# Register
+power_mgmt_1 = 0x6b
+power_mgmt_2 = 0x6c
+
+bus = smbus.SMBus(1)
+address = 0x68
+bus.write_byte_data(address, power_mgmt_1, 0)
+
+def read_byte(reg):
+    return bus.read_byte_data(address, reg)
+
+def read_word(reg):
+    h = bus.read_byte_data(address, reg)
+    l = bus.read_byte_data(address, reg + 1)
+    value = (h << 8) + l
+    return value
+
+def read_word_2c(reg):
+    val = read_word(reg)
+    if (val >= 0x8000):
+        return -((65535 - val) + 1)
+    else:
+        return val
+
+def dist(a, b):
+    return math.sqrt((a * a) + (b * b))
+
+def get_y_rotation(x, y, z):
+    radians = math.atan2(x, dist(y, z))
+    return -math.degrees(radians)
+
+def get_x_rotation(x, y, z):
+    radians = math.atan2(y, dist(x, z))
+    return math.degrees(radians)
+
+def getAllOut():
+    gyroskop_xout = read_word_2c(0x43)
+    gyroskop_yout = read_word_2c(0x45)
+    gyroskop_zout = read_word_2c(0x47)
+
+    beschleunigung_xout = read_word_2c(0x3b)
+    beschleunigung_yout = read_word_2c(0x3d)
+    beschleunigung_zout = read_word_2c(0x3f)
+
+    beschleunigung_xout_skaliert = round(beschleunigung_xout / 16384.0,3)
+    beschleunigung_yout_skaliert = round(beschleunigung_yout / 16384.0,3)
+    beschleunigung_zout_skaliert = round(beschleunigung_zout / 16384.0,3)
+
+    x_rotation = round(get_x_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert),0)
+    y_rotation = round(get_y_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert),0)
+
+    return {'acc':[beschleunigung_xout,beschleunigung_yout,beschleunigung_zout], 'acc_sca':[beschleunigung_xout_skaliert,beschleunigung_yout_skaliert,beschleunigung_zout_skaliert],'rot':[x_rotation,y_rotation]}
\ No newline at end of file
diff --git a/gyro_test.py b/gyro_test.py
new file mode 100644
index 0000000..068a375
--- /dev/null
+++ b/gyro_test.py
@@ -0,0 +1,5 @@
+import gyro
+import time
+while True:
+    print(gyro.getAllOut()['rot'])
+    time.sleep(1)
diff --git a/image.jpg b/image.jpg
new file mode 100644
index 0000000..45ec9ad
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diff --git a/install.sh b/install.sh
new file mode 100644
index 0000000..f056905
--- /dev/null
+++ b/install.sh
@@ -0,0 +1,9 @@
+sudo apt update
+sudo apt upgrade
+sudo apt dist-upgrade
+sudo pip3 install pygame
+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
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..46ef9b2
--- /dev/null
+++ b/main.py
@@ -0,0 +1,364 @@
+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 ()
diff --git a/motor.py b/motor.py
new file mode 100644
index 0000000..edb2e67
--- /dev/null
+++ b/motor.py
@@ -0,0 +1,131 @@
+import RPi.GPIO as GPIO
+import sys, time
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+def full_step(phase,pins):
+    pin1, pin2, pin3, pin4 = pins
+
+    if phase==0:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 0)
+
+    if phase==1:
+        GPIO.output(pin1, 1)
+        GPIO.output(pin2, 1)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 0)
+
+    if phase==2:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 1)
+        GPIO.output(pin3, 1)
+        GPIO.output(pin4, 0)
+
+    if phase==3:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 1)
+        GPIO.output(pin4, 1)
+
+    if phase==4:
+        GPIO.output(pin1, 1)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 1)
+
+def half_step(phase,pins):
+    pin1, pin2, pin3, pin4 = pins
+
+    if phase==0:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 0)
+
+    if phase==1:
+        GPIO.output(pin1, 1)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 0)
+
+    if phase==2:
+        GPIO.output(pin1, 1)
+        GPIO.output(pin2, 1)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 0)
+
+    if phase==3:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 1)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 0)
+
+    if phase==4:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 1)
+        GPIO.output(pin3, 1)
+        GPIO.output(pin4, 0)
+
+    if phase==5:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 1)
+        GPIO.output(pin4, 0)
+
+    if phase==6:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 1)
+        GPIO.output(pin4, 1)
+
+    if phase==7:
+        GPIO.output(pin1, 0)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 1)
+
+    if phase==8:
+        GPIO.output(pin1, 1)
+        GPIO.output(pin2, 0)
+        GPIO.output(pin3, 0)
+        GPIO.output(pin4, 1)
+
+def full_phase(pins):
+    #order=[1,2,3,4]
+    order=[4,3,2,1]
+    print("Moving in {}-order".format(order))
+    for i in order:
+        full_step(i, pins)
+        time.sleep(0.005)
+
+def half_phase(pins):
+    for i in range(0,8):
+        half_step(i,pins)
+        time.sleep(0.0025)
+
+def forward(pins):
+    half_phase(pins)
+
+def backward(pins):
+    (pins[0], pins[1], pins[2], pins[3]) = (pins[1], pins[0], pins[2], pins[3])
+    half_phase(pins)
+
+if __name__=='__main__':
+    pins=[6, 13, 19, 26]
+    for pin in pins:
+        GPIO.setup(pin, GPIO.OUT)
+    while True:
+        try:
+            start=time.time()
+            while(time.time()<start+10):
+                forward(pins)
+            start=time.time()
+            while(time.time()<start+10):
+                backward(pins)
+        except KeyboardInterrupt:
+            break
+    GPIO.cleanup()
+
diff --git a/motors.py b/motors.py
new file mode 100644
index 0000000..5b1c6bd
--- /dev/null
+++ b/motors.py
@@ -0,0 +1,117 @@
+from time import sleep
+import RPi.GPIO as GPIO
+from thread import start_new_thread
+import sys
+
+
+class Motor(object):
+    def __init__(self, pins):
+        self.P1 = pins[0]
+        self.P2 = pins[1]
+        self.P3 = pins[2]
+        self.P4 = pins[3]
+        self.deg_per_step = 5.625 / 64
+        self.steps_per_rev = int(360 / self.deg_per_step)  # 4096
+        self.step_angle = 0  # Assume the way it is pointing is zero degrees
+        for p in pins:
+            GPIO.setup(p, GPIO.OUT)
+            GPIO.output(p, 0)
+
+    def __exit__(self, type, value, traceback):
+        self.clean_pins_up()
+
+    def _set_rpm(self, rpm):
+        """Set the turn speed in RPM."""
+        self._rpm = rpm
+        # T is the amount of time to stop between signals
+        self._T = (60.0 / rpm) / self.steps_per_rev
+
+    # This means you can set "rpm" as if it is an attribute and
+    # behind the scenes it sets the _T attribute
+    rpm = property(lambda self: self._rpm, _set_rpm)
+
+    def clean_pins_up(self):
+        GPIO.output(self.P1, 0)
+        GPIO.output(self.P2, 0)
+        GPIO.output(self.P3, 0)
+        GPIO.output(self.P4, 0)
+
+
+    def move_to(self, angle):
+        """Take the shortest route to a particular angle (degrees)."""
+        # Make sure there is a 1:1 mapping between angle and stepper angle
+        target_step_angle = 8 * (int(angle / self.deg_per_step) / 8)
+        steps = target_step_angle - self.step_angle
+        steps = (steps % self.steps_per_rev)
+        if steps > self.steps_per_rev / 2:
+            steps -= self.steps_per_rev
+            print ("moving " + repr(steps) + " steps")
+            self._move_acw(-steps / 8)
+        else:
+            print("moving " + repr(steps) + " steps")
+            self._move_cw(steps / 8)
+        # self.step_angle = target_step_angle #in case you want to keep track of the position
+        self.step_angle = 0
+
+
+    def _move_acw(self, big_steps):
+        self.clean_pins_up()
+        for i in range(big_steps):
+            GPIO.output(self.P1, 0)
+            sleep(self._T)
+            GPIO.output(self.P3, 1)
+            sleep(self._T)
+            GPIO.output(self.P4, 0)
+            sleep(self._T)
+            GPIO.output(self.P2, 1)
+            sleep(self._T)
+            GPIO.output(self.P3, 0)
+            sleep(self._T)
+            GPIO.output(self.P1, 1)
+            sleep(self._T)
+            GPIO.output(self.P2, 0)
+            sleep(self._T)
+            GPIO.output(self.P4, 1)
+            sleep(self._T)
+        self.clean_pins_up()
+
+
+    def _move_cw(self, big_steps):
+        GPIO.output(self.P1, 0)
+        GPIO.output(self.P2, 0)
+        GPIO.output(self.P3, 0)
+        GPIO.output(self.P4, 0)
+        for i in range(big_steps):
+            GPIO.output(self.P3, 0)
+            sleep(self._T)
+            GPIO.output(self.P1, 1)
+            sleep(self._T)
+            GPIO.output(self.P4, 0)
+            sleep(self._T)
+            GPIO.output(self.P2, 1)
+            sleep(self._T)
+            GPIO.output(self.P1, 0)
+            sleep(self._T)
+            GPIO.output(self.P3, 1)
+            sleep(self._T)
+            GPIO.output(self.P2, 0)
+            sleep(self._T)
+            GPIO.output(self.P4, 1)
+            sleep(self._T)
+        self.clean_pins_up()
+
+if __name__ == "__main__":
+    GPIO.cleanup()
+    GPIO.setmode(GPIO.BCM)
+    m_l = Motor([6, 13, 19, 26])
+    #m_r = Motor([10, 9, 11, 25])
+    m_l.rpm = float(sys.argv[1])
+    #m_r.rpm = float(sys.argv[1])
+    print ("Pause in seconds: " + repr(m_l._T))
+    i = 1
+    while i < 5:
+        start_new_thread(m_l.move_to, (int(sys.argv[2]),))
+        #start_new_thread(m_r.move_to, (int(sys.argv[3]),))
+        sleep(2)
+        i = i + 1
+    GPIO.cleanup()
\ No newline at end of file
diff --git a/servo_2.py b/servo_2.py
new file mode 100644
index 0000000..d6dfead
--- /dev/null
+++ b/servo_2.py
@@ -0,0 +1,23 @@
+import Adafruit_PCA9685 as ServoLib
+import sys
+
+pwm = ServoLib.PCA9685()
+pwm.set_pwm_freq(60)
+
+def left():
+    pwm.set_pwm(0,0,261)
+
+def right():
+    pwm.set_pwm(0,0,479)
+
+def reset():
+    pwm.set_pwm(0,0,370)
+
+if __name__ == '__main__':
+    args=sys.argv
+    if 'left' in args:
+        left()
+    elif 'right' in args:
+        right()
+    else:
+        reset()
\ No newline at end of file
diff --git a/stream.sh b/stream.sh
new file mode 100644
index 0000000..a918f48
--- /dev/null
+++ b/stream.sh
@@ -0,0 +1 @@
+raspivid -o - -t 0 -hf -w 640 -h 360 -fps 25 | cvlc -vvv stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554}' :demux=h264
\ No newline at end of file
diff --git a/thermo.py b/thermo.py
new file mode 100644
index 0000000..7524db8
--- /dev/null
+++ b/thermo.py
@@ -0,0 +1,8 @@
+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/top_view.png b/top_view.png
new file mode 100644
index 0000000..4e90f50
Binary files /dev/null and b/top_view.png differ
diff --git a/ultrasonic.py b/ultrasonic.py
new file mode 100644
index 0000000..c73a4f1
--- /dev/null
+++ b/ultrasonic.py
@@ -0,0 +1,47 @@
+import RPi.GPIO as GPIO
+import time
+
+GPIO.setmode(GPIO.BOARD)
+
+class Sensor(object):
+    def init(self,TRIG,ECHO):
+        self.TRIGGER=TRIG
+        self.ECHO=ECHO
+        self.lastValues=[1,1,1,1,1,1,1,1,1,1]
+        GPIO.setup(self.TRIGGER,GPIO.OUT)
+        GPIO.setup(self.ECHO,GPIO.IN)
+        GPIO.output(self.TRIGGER,False)
+        print('Waiting for Sensor to settle')
+        time.sleep(2)
+
+    def echo(self):
+        GPIO.output(self.TRIGGER, True)
+        time.sleep(0.00001)
+        GPIO.output(self.TRIGGER, False)
+        abs_start=time.time()
+        pulse_start=time.time()
+
+        while GPIO.input(self.ECHO)==0 and (time.time()-abs_start)<0.02:
+            #print(time.time()-abs_start)
+            pass
+        pulse_start=time.time()
+        pulse_end=time.time()
+
+        while GPIO.input(self.ECHO)==1 and (time.time()-abs_start)<0.02:
+            #print(time.time()-abs_start)
+            pass
+        pulse_end=time.time()
+
+        pulse_duration=pulse_end-pulse_start
+
+        distance=pulse_duration*17150
+        distance=round(distance,2)
+        self.lastValues.append(distance)
+        self.lastValues = self.lastValues[1:]
+        distance=round((sum(self.lastValues))/(len(self.lastValues)),2)
+        #print(self.lastValues)
+        #print("Distance: {}".format(distance))
+        return distance
+
+    def clean(self):
+        GPIO.cleanup()
\ No newline at end of file
diff --git a/ultrasonic_test.py b/ultrasonic_test.py
new file mode 100644
index 0000000..4f210db
--- /dev/null
+++ b/ultrasonic_test.py
@@ -0,0 +1,6 @@
+import ultrasonic
+sensor=ultrasonic.Sensor()
+sensor.init(11,7)
+print('Beginn der Messung')
+print(sensor.echo())
+sensor.clean()
\ No newline at end of file