SHOW:
|
|
- or go back to the newest paste.
| 1 | # Jaikrishna | |
| 2 | # Initial Date: June 25, 2013 | |
| 3 | # Last Updated: June 25, 2013 | |
| 4 | # http://www.dexterindustries.com/ | |
| 5 | # This code is for testing the BrickPi with Lego Motors & Lego Ultrasonic Sensor | |
| 6 | ||
| 7 | # Make the connections with Left Motor at Port A, Right Motor at Port D and Sensor at Port 4 | |
| 8 | # Setup battery power source for the RPi & BrickPi and boot. | |
| 9 | # To control the program, connection must be made though SSH though PuTTY or similar software | |
| 10 | # Open up PuTTY and enter UserName:pi Password:raspberry (Default values) | |
| 11 | # Navigate to the directory containing this code and enter 'python Car.py' | |
| 12 | # The user needs to enter one of the following keys: | |
| 13 | # 8 - Forward | |
| 14 | # 4 - Left | |
| 15 | # 6 - Right | |
| 16 | # 2 - Reverse | |
| 17 | # 5 - Stop | |
| 18 | # Also, The motors automatically stop when any nearby object is detected using the Ultrasonic Sensor | |
| 19 | ||
| 20 | ||
| 21 | from BrickPi import * #import BrickPi.py file to use BrickPi operations | |
| 22 | import threading | |
| 23 | ||
| 24 | BrickPiSetup() # setup the serial port for communication | |
| 25 | ||
| 26 | BrickPi.MotorEnable[PORT_A] = 1 #Enable the Motor A | |
| 27 | BrickPi.MotorEnable[PORT_D] = 1 #Enable the Motor D | |
| 28 | ||
| 29 | BrickPi.SensorType[PORT_4] = TYPE_SENSOR_ULTRASONIC_CONT #Setting the type of sensor at PORT4 | |
| 30 | ||
| 31 | BrickPiSetupSensors() #Send the properties of sensors to BrickPi | |
| 32 | ||
| 33 | running = True | |
| 34 | ||
| 35 | class myThread (threading.Thread): #This thread is used for keeping the motor running while the main thread waits for user input | |
| 36 | def __init__(self, threadID, name, counter): | |
| 37 | threading.Thread.__init__(self) | |
| 38 | self.threadID = threadID | |
| 39 | self.name = name | |
| 40 | self.counter = counter | |
| 41 | def run(self): | |
| 42 | while running: | |
| 43 | if BrickPi.Sensor[PORT_4] < 20 : #Lesser value means more close | |
| 44 | print "Car Stopped due to very close object" | |
| 45 | BrickPi.MotorSpeed[PORT_A] = 0 # Set Speed=0 which means stop | |
| 46 | BrickPi.MotorSpeed[PORT_D] = 0 | |
| 47 | BrickPiUpdateValues() # Ask BrickPi to update values for sensors/motors | |
| 48 | time.sleep(.2) # sleep for 200 ms | |
| 49 | ||
| 50 | thread1 = myThread(1, "Thread-1", 1) #Setup and start the thread | |
| 51 | thread1.setDaemon(True) | |
| 52 | thread1.start() | |
| 53 | ||
| 54 | while True: | |
| 55 | try: | |
| 56 | c = raw_input("Enter direction: ")
| |
| 57 | if c == '8' : | |
| 58 | print "Running Forward" | |
| 59 | if BrickPi.MotorSpeed[PORT_A] + BrickPi.MotorSpeed[PORT_D] == 400 : | |
| 60 | BrickPi.MotorSpeed[PORT_A] = 0 | |
| 61 | BrickPi.MotorSpeed[PORT_D] = 0 | |
| 62 | time.sleep(.5) | |
| 63 | BrickPi.MotorSpeed[PORT_A] = -200 #Set the speed of MotorA (-255 to 255) | |
| 64 | BrickPi.MotorSpeed[PORT_D] = -200 #Set the speed of MotorD (-255 to 255) | |
| 65 | elif c == '2' : | |
| 66 | print "Running Reverse" | |
| 67 | if BrickPi.MotorSpeed[PORT_A] + BrickPi.MotorSpeed[PORT_D] == -400 : | |
| 68 | BrickPi.MotorSpeed[PORT_A] = 0 | |
| 69 | BrickPi.MotorSpeed[PORT_D] = 0 | |
| 70 | time.sleep(.5) | |
| 71 | BrickPi.MotorSpeed[PORT_A] = 200 #Set the speed of MotorA (-255 to 255) | |
| 72 | BrickPi.MotorSpeed[PORT_D] = 200 #Set the speed of MotorD (-255 to 255) | |
| 73 | elif c == '6' : | |
| 74 | print "Turning Right" | |
| 75 | BrickPi.MotorSpeed[PORT_A] = -200 #Set the speed of MotorA (-255 to 255) | |
| 76 | BrickPi.MotorSpeed[PORT_D] = 0 #Set the speed of MotorD (-255 to 255) | |
| 77 | elif c == '4' : | |
| 78 | print "Turning Left" | |
| 79 | - | BrickPi.MotorSpeed[PORT_A] = 0 #Set the speed |
| 79 | + | BrickPi.MotorSpeed[PORT_A] = 0 #Set the speed of MotorA (-255 to 255) |
| 80 | BrickPi.MotorSpeed[PORT_D] = -200 #Set the speed of MotorD (-255 to 255) | |
| 81 | elif c == '5' : | |
| 82 | print "Stopped" | |
| 83 | BrickPi.MotorSpeed[PORT_A] = 0 #Stop the motor | |
| 84 | BrickPi.MotorSpeed[PORT_D] = 0 | |
| 85 | except KeyboardInterrupt: #Triggered by pressing Ctrl+C | |
| 86 | running = False #Stop theread1 | |
| 87 | print "Bye" | |
| 88 | break #Exit |
