mirror of https://github.com/Trivernis/spydian.git
Trivernis
6 years ago
committed by
GitHub
commit
cf97067a36
@ -1,2 +1,2 @@
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.idea/
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.idea*
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*.pyc
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<option name="notifyOnTerminate" value="true" />
|
||||
</properties>
|
||||
</breakpoint>
|
||||
</default-breakpoints>
|
||||
<option name="time" value="3" />
|
||||
</breakpoint-manager>
|
||||
<watches-manager />
|
||||
</component>
|
||||
<component name="editorHistoryManager">
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
||||
<caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/motors.py" />
|
||||
<entry file="file://$PROJECT_DIR$/main.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="1462">
|
||||
<caret line="86" column="12" lean-forward="false" selection-start-line="86" selection-start-column="12" selection-end-line="86" selection-end-column="12" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/stream.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
||||
<caret line="0" column="44" lean-forward="false" selection-start-line="0" selection-start-column="44" selection-end-line="0" selection-end-column="44" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/gyro_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
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|
||||
<caret line="1" column="29" lean-forward="false" selection-start-line="1" selection-start-column="29" selection-end-line="1" selection-end-column="29" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/motors.py" />
|
||||
<entry file="file://$PROJECT_DIR$/main.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="1292">
|
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<caret line="76" column="73" lean-forward="false" selection-start-line="76" selection-start-column="73" selection-end-line="76" selection-end-column="73" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/stream.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
||||
<caret line="0" column="44" lean-forward="false" selection-start-line="0" selection-start-column="44" selection-end-line="0" selection-end-column="44" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/gyro_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
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<state relative-caret-position="17">
|
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<caret line="1" column="29" lean-forward="false" selection-start-line="1" selection-start-column="29" selection-end-line="1" selection-end-column="29" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/motors.py" />
|
||||
<entry file="file://$PROJECT_DIR$/main.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
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|
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<caret line="56" column="41" lean-forward="true" selection-start-line="56" selection-start-column="41" selection-end-line="56" selection-end-column="41" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/stream.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
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<caret line="0" column="36" lean-forward="false" selection-start-line="0" selection-start-column="36" selection-end-line="0" selection-end-column="36" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="17">
|
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<caret line="1" column="29" lean-forward="false" selection-start-line="1" selection-start-column="29" selection-end-line="1" selection-end-column="29" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/main.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="1632">
|
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<caret line="96" column="34" lean-forward="false" selection-start-line="96" selection-start-column="34" selection-end-line="96" selection-end-column="34" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/motors.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="17">
|
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<caret line="1" column="29" lean-forward="false" selection-start-line="1" selection-start-column="29" selection-end-line="1" selection-end-column="29" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/motors.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
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|
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|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/motor.py" />
|
||||
<entry file="file://$PROJECT_DIR$/main beta.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
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<caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/28byj-48-driver.py" />
|
||||
<entry file="file://$PROJECT_DIR$/main beta.py" />
|
||||
<entry file="file://$PROJECT_DIR$/gyro.py" />
|
||||
<entry file="file://$PROJECT_DIR$/motors.py" />
|
||||
<entry file="file://$PROJECT_DIR$/install.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="136">
|
||||
<caret line="8" column="20" lean-forward="false" selection-start-line="8" selection-start-column="20" selection-end-line="8" selection-end-column="20" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/gyro_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic_test.py" />
|
||||
<entry file="file://$PROJECT_DIR$/ultrasonic.py" />
|
||||
<entry file="file://$PROJECT_DIR$/motor.py" />
|
||||
<entry file="file://$PROJECT_DIR$/stream.sh">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
||||
<caret line="0" column="44" lean-forward="false" selection-start-line="0" selection-start-column="44" selection-end-line="0" selection-end-column="44" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/servo_2.py" />
|
||||
<entry file="file://$PROJECT_DIR$/thermo.py" />
|
||||
<entry file="file://$PROJECT_DIR$/main.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="340">
|
||||
<caret line="20" column="0" lean-forward="false" selection-start-line="20" selection-start-column="0" selection-end-line="20" selection-end-column="0" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</component>
|
||||
</project>
|
||||
@ -1,8 +1,11 @@
|
||||
import Adafruit_DHT
|
||||
|
||||
|
||||
def main():
|
||||
humidity, temperature = Adafruit_DHT.read_retry(11, 14)
|
||||
print '{}|{}'.format(temperature, humidity)
|
||||
print
|
||||
'{}|{}'.format(temperature, humidity)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -1,366 +0,0 @@
|
||||
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 ()
|
||||
Binary file not shown.
@ -1 +1,2 @@
|
||||
#!/usr/bin/env bash
|
||||
raspivid -o - -t 0 -hf -w 640 -h 360 -fps 25 | cvlc -vvv stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554}' :demux=h264
|
||||
@ -1,5 +1,6 @@
|
||||
from lib import gyro
|
||||
import time
|
||||
|
||||
while True:
|
||||
print(gyro.getAllOut()['rot'])
|
||||
time.sleep(1)
|
||||
@ -1,131 +1,139 @@
|
||||
import time
|
||||
|
||||
import RPi.GPIO as GPIO
|
||||
import sys, time
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
GPIO.setwarnings(False)
|
||||
|
||||
def full_step(phase,pins):
|
||||
|
||||
def full_step(phase, pins):
|
||||
pin1, pin2, pin3, pin4 = pins
|
||||
|
||||
if phase==0:
|
||||
if phase == 0:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==1:
|
||||
if phase == 1:
|
||||
GPIO.output(pin1, 1)
|
||||
GPIO.output(pin2, 1)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==2:
|
||||
if phase == 2:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 1)
|
||||
GPIO.output(pin3, 1)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==3:
|
||||
if phase == 3:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 1)
|
||||
GPIO.output(pin4, 1)
|
||||
|
||||
if phase==4:
|
||||
if phase == 4:
|
||||
GPIO.output(pin1, 1)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 1)
|
||||
|
||||
def half_step(phase,pins):
|
||||
|
||||
def half_step(phase, pins):
|
||||
pin1, pin2, pin3, pin4 = pins
|
||||
|
||||
if phase==0:
|
||||
if phase == 0:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==1:
|
||||
if phase == 1:
|
||||
GPIO.output(pin1, 1)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==2:
|
||||
if phase == 2:
|
||||
GPIO.output(pin1, 1)
|
||||
GPIO.output(pin2, 1)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==3:
|
||||
if phase == 3:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 1)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==4:
|
||||
if phase == 4:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 1)
|
||||
GPIO.output(pin3, 1)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==5:
|
||||
if phase == 5:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 1)
|
||||
GPIO.output(pin4, 0)
|
||||
|
||||
if phase==6:
|
||||
if phase == 6:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 1)
|
||||
GPIO.output(pin4, 1)
|
||||
|
||||
if phase==7:
|
||||
if phase == 7:
|
||||
GPIO.output(pin1, 0)
|
||||
GPIO.output(pin2, 0)
|
||||
GPIO.output(pin3, 0)
|
||||
GPIO.output(pin4, 1)
|
||||
|
||||
if phase==8:
|
||||
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]
|
||||
# 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)
|
||||
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]
|
||||
|
||||
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):
|
||||
start = time.time()
|
||||
while time.time() < start + 10:
|
||||
forward(pins)
|
||||
start=time.time()
|
||||
while(time.time()<start+10):
|
||||
start = time.time()
|
||||
while time.time() < start + 10:
|
||||
backward(pins)
|
||||
except KeyboardInterrupt:
|
||||
break
|
||||
GPIO.cleanup()
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
from lib import ultrasonic
|
||||
|
||||
sensor= ultrasonic.Sensor()
|
||||
sensor.init(11,7)
|
||||
sensor = ultrasonic.Sensor()
|
||||
sensor.init(11, 7)
|
||||
print('Beginn der Messung')
|
||||
print(sensor.echo())
|
||||
sensor.clean()
|
||||
Loading…
Reference in New Issue