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90 lines
2.2 KiB
Python
90 lines
2.2 KiB
Python
from subprocess import call, check_output
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from lib import ultrasonic
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import RPi.GPIO as GPIO
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import time
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class Navigator:
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"""Forward Motor with relais, Steering with servo"""
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def __init__(self, mrelaispin):
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self.mrelpin = mrelaispin
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self.steer = None
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GPIO.setup(self.mrelpin, GPIO.OUT)
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self.stop()
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def left(self):
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if self.steer != 'left':
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call(['python', './lib/servolib.py', 'left'])
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self.steer = 'left'
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def right(self):
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if self.steer != 'right':
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call(['python', './lib/servolib.py', 'right'])
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self.steer = 'right'
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def straight(self):
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if self.steer:
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call(['python', './lib/servolib.py'])
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self.steer = None
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def forward(self):
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GPIO.output(self.mrelpin, False)
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def stop(self):
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GPIO.output(self.mrelpin, True)
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class Light:
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"""Light switched with a relais"""
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def __init__(self, lightpin):
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self.pin = lightpin
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GPIO.setup(self.pin, GPIO.OUT)
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GPIO.output(self.pin, True)
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self.shine = False
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def switch(self):
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print('light switch {}'.format(self.shine))
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GPIO.output(self.pin, not self.shine)
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self.shine = not self.shine
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def switch_on(self):
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GPIO.output(self.pin, False)
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def switch_of(self):
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GPIO.output(self.pin, True)
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class Ultrasonic:
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"""A ultrasonic sensor"""
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def __init__(self, trigger, echo):
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self.sensor = ultrasonic.Sensor()
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self.sensor.init(trigger, echo)
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self.time = 0
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self.distance = 0
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def get_distance(self):
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if (time.time() - self.time) > 1:
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self.distance = self.sensor.echo()
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self.time = time.time()
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return self.distance
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def __del__(self):
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self.sensor.clean()
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class Temperature:
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"""A temperature sensor"""
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def get_Temperature(self):
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outp = check_output(['python', '-u', './lib/thermolib.py']).decode('ISO-8859-1')
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temp, hum = outp.split('|')
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return temp
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def get_Humidity(self):
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outp = check_output(['python', '-u', './lib/thermolib.py']).decode('ISO-8859-1')
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temp, hum = outp.split('|')
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return hum
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