rpi

#Libraries
import RPi.GPIO as GPIO
import time
import os
import subprocess #for kill process
import threading
import I2C_LCD_driver  # SDA (GPIO2), SCL (GPIO3)
from gpiozero import Buzzer,LED
from time import sleep

#Set GPIO MODE (BOARD/BCM)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

#set GPIO Pins
############### sensor1 ######################
GPIO_TRIGGER = 23
GPIO_ECHO= 24
############### sensor2 ######################
GPIO_TRIGGER1 = 6
GPIO_ECHO1 = 5
############### sensor3 ######################
GPIO_TRIGGER2 = 19
GPIO_ECHO2 = 26
##############################################
PinLED_Sensor1 = 16
PinLED_Sensor2 = 20
PinLED_Sensor3 = 21
##############################################
Pin_SERVO = 4  # 7.5 tengah (0 derajat), 2.5 kiri (-90), 12.5 kanan
Pin_Buzzer = 12

#set GPIO direction (IN / OUT)
############### sensor1 ######################
GPIO.setup(GPIO_TRIGGER, GPIO.OUT)
GPIO.setup(GPIO_ECHO, GPIO.IN)
############### sensor2 ######################
GPIO.setup(GPIO_TRIGGER1, GPIO.OUT)
GPIO.setup(GPIO_ECHO1, GPIO.IN)
###
############ sensor3 ######################
GPIO.setup(GPIO_TRIGGER2, GPIO.OUT)
GPIO.setup(GPIO_ECHO2, GPIO.IN)
##############################################

#set GPIO SERVO
##############################################
GPIO.setup (Pin_SERVO,GPIO.OUT)
p = GPIO.PWM(Pin_SERVO,50)
##############################################

#Set LCD
##############################################
lcdKu= I2C_LCD_driver.lcd()

#Set GPIOZERO Buzzer
##############################################
buzzer = Buzzer(Pin_Buzzer)

#Set GPIOZERO LED
##############################################
LED_Sensor1 =LED(PinLED_Sensor1)
LED_Sensor2 =LED(PinLED_Sensor2)
LED_Sensor3 =LED(PinLED_Sensor3)


#Fungsi Sensor 3
def sensor3():
    global aktifSen3
    GPIO.output(GPIO_TRIGGER2,False)
    time.sleep(0.0002)
    # set Trigger to HIGH
    GPIO.output(GPIO_TRIGGER2, True)

    # set Trigger after 0.01ms to LOW
    time.sleep(0.00001)
    GPIO.output(GPIO_TRIGGER2, False)

    StartTime = time.time()
    StopTime = time.time()
    TimeElapsed=0
    # save StartTime
    while GPIO.input(GPIO_ECHO2) == 0:
        StartTime = time.time()

    # save time of arrival max about 15cm
    while (GPIO.input(GPIO_ECHO2) == 1) and  (TimeElapsed <0.0009) :
        StopTime = time.time()
        TimeElapsed = StopTime - StartTime
    # time difference between start and arrival
    TimeElapsed = StopTime - StartTime
    # multiply with the sonic speed (34300 cm/s)
    # and divide by 2, because there and back
    sensor3 = (TimeElapsed * 34300) / 2
    print("Sensor3 ", sensor3)
    if sensor3 <10 :
        aktifSen3=True
##############################################
# Fungsi jarak sensor 2
def sensor2():
    global aktifSen2
    GPIO.output(GPIO_TRIGGER1,False)
    time.sleep(0.0002)
    # set Trigger to HIGH
    GPIO.output(GPIO_TRIGGER1, True)

    # set Trigger after 0.01ms to LOW
    time.sleep(0.00001)
    GPIO.output(GPIO_TRIGGER1, False)

    StartTime = time.time()
    StopTime = time.time()
    TimeElapsed=0
    # save StartTime
    while GPIO.input(GPIO_ECHO1) == 0:
        StartTime = time.time()

    # save time of arrival max about 15cm
    while (GPIO.input(GPIO_ECHO1) == 1) and  (TimeElapsed <0.0009) :
        StopTime = time.time()
        TimeElapsed = StopTime - StartTime

    # time difference between start and arrival
    # TimeElapsed = StopTime - StartTime
    # multiply with the sonic speed (34300 cm/s)
    # and divide by 2, because there and back
    sensor2 = (TimeElapsed * 34300) / 2
    print("Sensor2 ",sensor2)   #for debugging only
#    print(TimeElapsed) #for debugging only
    if sensor2 <10 :
        aktifSen2=True
##############################################

# Fungsijarak sensor 1
def sensor1():
    global aktifSen1
    GPIO.output(GPIO_TRIGGER,False)
    time.sleep(0.0002)

    GPIO.output(GPIO_TRIGGER, True)
        # set Trigger after 0.01ms to LOW
    time.sleep(0.00001)
    GPIO.output(GPIO_TRIGGER, False)

    StartTime = time.time()
    StopTime = time.time()
    TimeElapsed=0
        # save StartTime
    while GPIO.input(GPIO_ECHO) == 0:
        StartTime = time.time()

    while (GPIO.input(GPIO_ECHO)) == 1 and (TimeElapsed < 0.0009):
        StopTime = time.time()
        TimeElapsed = StopTime - StartTime
    # time difference between start and arrival
    # TimeElapsed = StopTime - StartTime
    # multiply with the sonic speed (34300 cm/s)
    # and divide by 2, because there and back
    sensor1 = (TimeElapsed * 34300) / 2
#    print(sensor1)
#    print(TimeElapsed)
    if sensor1<10 :
        aktifSen1=True
    print("Sensor1 ",sensor1)
#############################################
#Global variabel
aktifSen1=False
aktifSen2=False
aktifSen3=False
jarak = 40
############################################



if __name__ == '__main__':
    try:
        p.start(0)
        flagLCD=True
        flagAudio4=False
        os.system('mpg123 -q awal.mp3 &') #Audio 1
        while True:
            if(flagLCD==True):
                lcdKu.lcd_clear()
                lcdKu.lcd_display_string("AutomaticX K-Api")
                flagLCD=False
            if(flagAudio4==True):
                subprocess.call(['killall','mpg123']) #kill all mpg123 process (off audio4)
                flagAudio4=False
            LED_Sensor1.off()
            LED_Sensor2.off()
            LED_Sensor3.off()
            Durasi=0
            aktifSen1=False
            aktifSen2=False
            aktifSen3=False
            TimeAwal=time.time()
            TimeAkhir=time.time()
            sensor1()  #cek sensor1
            if aktifSen1==True: #jika kurang dari 10 masuk blok if
                TimeAwal=time.time()# Waktu awal unt hit kecepatan
                LED_Sensor3.off()
                lcdKu.lcd_clear()
                lcdKu.lcd_display_string(time.strftime("%d/%m/%Y"),1,0)
                lcdKu.lcd_display_string(time.strftime("%H:%M:%S"),1,11)
                LED_Sensor1.on()
                subprocess.call(['killall','mpg123']) #kill all mpg123 process
                os.system('mpg123 -q 111.mp3 &') #playing mpg123 player (Audio2)
                while aktifSen2==False: #tunggu sensor2 di bawah 10 cm
                      sensor2()
                      TimeAkhir=time.time() #Waktu akhir
                      time.sleep(0.01)
                LED_Sensor2.blink(0.2,0.2)   #jika sensor 2 dibawah 10cm
                LED_Sensor1.off()   #Led2 kedip
                p.start (12.5)      #palang menutup
                buzzer.beep()       #buzzer aktif
                Durasi=TimeAkhir-TimeAwal #hitung durasi
                Kecepatan=jarak/Durasi #hitung kecepatan
                lcdKu.lcd_clear()   #tampilkan di LCD
                lcdKu.lcd_display_string("Waktu= ",1,0)
                lcdKu.lcd_display_string("%.2f" %Durasi,1,7)
                lcdKu.lcd_display_string("det",1,13)
                lcdKu.lcd_display_string("Speed= ",2,0)
                lcdKu.lcd_display_string("%.2f" %Kecepatan,2,7)
                lcdKu.lcd_display_string("m/s",2,13)
                print ("Durasi =", Durasi) #tampil di monitor for debugging
                print ("Speed =", Kecepatan)
                subprocess.call(['killall','mpg123']) #kill all mpg123 process
                os.system('mpg123 -q 222.mp3 &') #playing mpg123 player (Audio3)
                waktu=200/Kecepatan
                while waktu >= 0:
                    print(waktu,)
                    time.sleep(1)
                    waktu -= 1
                while aktifSen3==False: #tunggu sensor 3 kurang dari 10cm
                      sensor3()
                      time.sleep(0.01)

                time.sleep(3)   #jika kurang dr 10, ditunda untuk gerong
                LED_Sensor2.off() #Led sen2 padam
                LED_Sensor3.on() #Led Sen3 nyala
                p.ChangeDutyCycle (7.5) #Palang naik
                buzzer.off()
                subprocess.call(['killall','mpg123']) #kill all mpg123 process
                os.system('mpg123 -q 333.mp3 &') #playing mpg123 player (Audio3)
                flagLCD=True
                flagAudio4=False
                time.sleep(3)
            time.sleep(0.01)


# Reset by pressing CTRL + C
    except KeyboardInterrupt:
        lcdKu.lcd_clear()
        lcdKu.lcd_display_string("Selamat tinggal")
        print("Measurement stopped by User")
        p.stop()
#        GPIO.cleanup()


#Importations