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Merge branch 'release/Alpha-1.1.0' into develop

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pull/1/head
Julius Riegel 7 years ago
parent ef8d535d37 a61628af82
commit 6312d1a309
27 changed files with 829 additions and 820 deletions
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2
.gitignore vendored
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.idea/
*.pyc

10
.idea/dictionaries/Trive.xml
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2
.idea/für Robotototo.iml
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2
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3
.idea/modules.xml
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506
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@ -253,7 +210,6 @@
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@ -272,7 +228,6 @@
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@ -338,6 +258,9 @@
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0
Spyder-Controls.odt → Manuals etc/Spyder-Controls.odt
Unescape Escape View File

11
install.sh
Unescape Escape View File

@ -1,3 +1,4 @@
#!/usr/bin/env bash
sudo apt update sudo apt update
sudo apt upgrade sudo apt upgrade
sudo apt dist-upgrade sudo apt dist-upgrade
@ -7,3 +8,13 @@ sudo apt install i2c-tools
sudo pip install adafruit-pca9685 sudo pip install adafruit-pca9685
sudo apt install vsftpd sudo apt install vsftpd
sudo apt install vlc sudo apt install vlc
sudo modprobe bcm2835-v4l2
if [hash pip3];then
pip install pygame
exit 0
fi
if [hash pip];then
pip install pygame
exit 0
fi
exit 1

99
lib/controllib.py
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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')

81
lib/graphiclib.py
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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)

0
gyro.py → lib/gyro.py
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2
gyro_test.py → lib/gyro_test.py
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@ -1,4 +1,4 @@
import gyro from lib import gyro
import time import time
while True: while True:
print(gyro.getAllOut()['rot']) print(gyro.getAllOut()['rot'])

93
lib/hardwarelib.py
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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

0
motor.py → lib/motor.py
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0
motors.py → lib/motors.py
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0
servo_2.py → lib/servolib.py
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8
lib/thermolib.py
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@ -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()

0
ultrasonic.py → lib/ultrasonic.py
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7
lib/ultrasonic_test.py
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from lib import ultrasonic
sensor= ultrasonic.Sensor()
sensor.init(11,7)
print('Beginn der Messung')
print(sensor.echo())
sensor.clean()

404
main.py
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@ -1,364 +1,46 @@
import pygame, picamera, ultrasonic#,gyro import pygame, time
from datetime import datetime from lib import graphiclib, hardwarelib, controllib
from subprocess import call
import RPi.GPIO as GPIO configuration = {
'GAS':5,
'STOP':2,
'MUSIC':1,
# Define some colors 'LIGHT':0,
BLACK = ( 0, 0, 0) 'VOLIN':5,
WHITE = ( 255, 255, 255) 'VOLDE':4,
# --ultrasonic-- 'REC':3
sensor=ultrasonic.Sensor() }
sensor.init(11,7)
# -- Nightmode def main():
# WHITE, BLACK=BLACK,WHITE navigator = hardwarelib.Navigator(16)
# Pins BCM light = hardwarelib.Light(15)
motor = 16 ultrasonic = hardwarelib.Ultrasonic(11,7)
lightpin=15 temperature = hardwarelib.Temperature()
# camera = graphiclib.PiCamera((500, 0), (500, 1000))
# --config-- jstick = controllib.Joystick(navigator, light, configuration, camera)
use_camera=False
use_gyro_preview=False #pygame stuff
#-- screen = graphiclib.Screen(size=(1000,1000))
forpress = False all_sprites = pygame.sprite.RenderUpdates()
light = False list = graphiclib.List((0,0),(500,1000))
lpress = False all_sprites.add(list)
play = False all_sprites.add(camera)
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() 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()
# 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 __name__ == '__main__':
# If you forget this line, the program will 'hang' main()
# on exit if running from IDLE.
sensor.clean()
pygame.quit ()

366
main_old.py
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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 ()

0
gasgasgas.wav → sounds/gasgasgas.wav
Unescape Escape View File

8
thermo.py
Unescape Escape View File

@ -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)

6
ultrasonic_test.py
Unescape Escape View File

@ -1,6 +0,0 @@
import ultrasonic
sensor=ultrasonic.Sensor()
sensor.init(11,7)
print('Beginn der Messung')
print(sensor.echo())
sensor.clean()

13
update.sh
Unescape Escape View File

@ -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
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