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Autopilot hinzugefuegt

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This commit is contained in:
Kevin Frantz
2017-04-15 23:32:58 +00:00
parent 2e82f991da
commit 7096c758a8
7 changed files with 188 additions and 17 deletions
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3
.gitmodules vendored Normal file
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@@ -0,0 +1,3 @@
[submodule "sensoren/Adafruit_Python_DHT"]
path = sensoren/Adafruit_Python_DHT
url = https://github.com/adafruit/Adafruit_Python_DHT.git

92
autopilot.py Normal file
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@@ -0,0 +1,92 @@
"""
Autopilot-Klasse schmeisst Exceptions und stoppt Erinaco bei Fehlern
@author kf
@since 2017-04-15
Status-Codes
0: Stopp
1: Forward
2: Backward
3: Left
4: Right
"""
#Bewegungs-Exeptions:
class MoveException(Exception):
pass
class RightMoveException(MoveException):
pass
class LeftMoveException(MoveException):
pass
class ForwardMoveException(MoveException):
pass
#Hauptklasse
from core import Core as CORE
from threading import Thread as THREAD
from time import sleep
class Autopilot(CORE,THREAD):
def __init__(self):
CORE.__init__(self);
THREAD.__init__(self);
self.moveStatus=0;
self.ultraschalminimum=10;
self.threadRun=True;
#self.start();
def run(self):
x=1
while self.threadRun:
self.statusTest();
print("Autopilot-Test #{0}".format(x));
#sleep(0.2);
x+=1
def statusTest(self):
switcher = {
1: lambda: self.testForward(),
3: lambda: self.testLeft(),
4: lambda: self.testRight(),
}
func = switcher.get(self.moveStatus, lambda:0)
return func();
def testLeft(self):
ultraschallLinks=self.ultraschallLinks.getValue();
if(ultraschallLinks<=self.ultraschalminimum or self.infarotLinks.getValue()):
self.stop();
raise LeftMoveException("Abstand Ultraschall-Links betraegt {0}cm und Infarot-Links hat Wert {1}".format(ultraschallLinks,self.infarotLinks.getValue()));
def testRight(self):
ultraschallRechts=self.ultraschallRechts.getValue();
if(ultraschallRechts<=self.ultraschalminimum or self.infarotRechts.getValue()):
self.stop();
raise RightMoveException("Abstand Ultraschall-Rechts betraegt {0}cm und Infarot-Rechts hat Wert {1}".format(ultraschallRechts,self.infarotRechts.getValue()));
def testForward(self):
ultraschallMitte=self.ultraschallMitte.getValue();
if(ultraschallMitte<=self.ultraschalminimum
or self.ultraschallRechts.getValue()<=self.ultraschalminimum
or self.ultraschallLinks.getValue()<=self.ultraschalminimum
or self.infarotMitteLinks.getValue()
or self.infarotMitteRechts.getValue()):
self.stop();
raise ForwardMoveException("Abstand Ultraschallmitte betraegt {0}cm. Infarot-Mitte-Links: {1}. Infarot-Mitte-Rechts:{2}".format(ultraschallMitte,self.infarotMitteLinks.getValue(),self.infarotMitteRechts.getValue()));
def turnLeft(self):
self.statusTest();
self.moveStatus=3;
CORE.turnLeft(self);
def turnRight(self):
self.statusTest();
self.moveStatus=4;
CORE.turnRight(self);
def forward(self):
self.statusTest();
self.moveStatus=1;
CORE.forward(self);
def backward(self):
self.statusTest();
self.moveStatus=2;
CORE.backward(self);
def stop(self):
self.statusTest();
self.moveStatus=0;
CORE.stop(self);
def __del__(self):
self.threadRun=False;

47
manual_controll.py
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@@ -1,7 +1,43 @@
from time import sleep
import getch
from core import Core as CORE
from autopilot import Autopilot as AUTOPILOT
from autopilot import MoveException,RightMoveException,LeftMoveException,ForwardMoveException
from random import randint
core=CORE();
#Enthaelt die Hilfe
def help():
print("MOTION:")
print("Forward: w");
print("Backward: s");
print("Left: a");
print("Right: d");
print("Stop: Space\n")
print("GENERAL:")
print("Help: h\n");
print("MODE:")
print("Automatisch: q")
print("Halbautomatisch: w")
print("Manuell: e")
def autopilot():
core=AUTOPILOT()
#core.start();
while True:
try:
core.forward();
except ForwardMoveException:
if randint(0,1):
core.backward();
else:
if randint(0,1):
core.turnLeft();
else:
core.turnRight();
except LeftMoveException:
core.turnLeft();
except RightMoveException:
core.turnRight();
sleep(0.5);
def doIt(order):
switcher = {
'w': lambda: core.forward(),
@@ -10,14 +46,19 @@ def doIt(order):
'a': lambda: core.turnLeft(),
' ': lambda: core.stop(),
'i': lambda: core.printValues(),
'h': lambda: help(),
'q': lambda: autopilot(),
}
func = switcher.get(order, "Der gewuenschte Befehl steht nicht zur Verfuegung")
func = switcher.get(order, lambda: print("Der gewuenschte Befehl steht nicht zur Verfuegung"))
return func();
print("Herzlich Willkommen im manuellen Controll-Interface!")
try:
print("Herzlich Willkommen im manuellen Controll-Interface!\n")
try:
while True:
input=getch.getch();
print("Erinaco>>{0}".format(input))
doIt(input);
except MoveException:
print("Move Exception...")
except KeyboardInterrupt:
print("Verlasse Erinaco...")
core.__del__();

1
sensoren/Adafruit_Python_DHT Submodule

Submodule sensoren/Adafruit_Python_DHT added at da8cddf7fb

11
sensoren/dht11.py Normal file
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import Adafruit_DHT
class Dht11(object):
def __init__(self,pin):
self.pin = pin;
def setValues(self):
self.humidity, self.temperature = Adafruit_DHT.read_retry(Adafruit_DHT.DHT11, self.pin)
def getLuftfeuchtigkeit(self):
return self.humidity;
def getTemperatur(self):
return self.temperature;

20
sensoren/ultraschall.py Normal file
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@@ -0,0 +1,20 @@
#!/usr/bin/python3
import time
import RPi.GPIO as GPIO
class Ultraschall(object):
def __init__(self,trigPin,echoPin):
self.trigPin=trigPin
self.echoPin=echoPin
GPIO.setup(echoPin, GPIO.IN)
GPIO.setup(trigPin, GPIO.OUT)
def getValue(self):
GPIO.output(self.trigPin, True)
time.sleep(0.00001) # 10 Mikrosekunden
GPIO.output(self.trigPin, False)
while GPIO.input(self.echoPin) == 0:
pass
start = time.time()
while GPIO.input(self.echoPin) == 1:
pass
ende = time.time()
return ((ende - start) * 34300) / 2

31
vero.py
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@@ -4,29 +4,32 @@
@since 2017-04-15
"""
from sensoren.boolsensor import Boolsensor as BOOLSENSOR
from sensoren.ultraschall import Ultraschall as ULTRASCHALL
#from sensoren.dht11 import Dht11 as DHT11
class Vero(object):
def __init__(self):
self.pir=BOOLSENSOR(19);
#self.dht;
#self.dht=DHT11(26);
#self.camera;
#self.ultraschallLinks;
#self.ultraschallMitte;
#self.ultraschallRechts;
self.ultraschallLinks=ULTRASCHALL(5,17);
self.ultraschallMitte=ULTRASCHALL(6,27);
self.ultraschallRechts=ULTRASCHALL(13,22);
self.infarotLinks=BOOLSENSOR(12);
self.infarotRechts=BOOLSENSOR(21);
self.infarotMitteLinks=BOOLSENSOR(16);
self.infarotMitteRechts=BOOLSENSOR(20);
def printValues(self):
print("PIR: {0}".format(self.pir.getValue()));
#print("Temperatur: {0}".format(self.dht.getTemperatur()));
#print("Luftfeuchtigkeit: {0}".format(self.dht.getLuftfeuchtigkeit()));
#print("PIR: {0}".format(self.ultraschallLinks.getValue()));
# self.ultraschallMitte.getValue();
# self.ultraschallRechts.getValue();
print("Infarot Links: {0}".format(self.infarotLinks.getValue()));
print("Infarot Mitte-Links: {0}".format(self.infarotMitteLinks.getValue()));
print("Infarot Mitte-Rechts: {0}".format(self.infarotMitteRechts.getValue()));
print("Infarot Rechts: {0}".format(self.infarotRechts.getValue()));
#self.dht.setValues();
print("PIR: {0}".format(self.pir.getValue()));
#print("Temperatur: {0}".format(self.dht.getTemperatur()));
#print("Luftfeuchtigkeit: {0}".format(self.dht.getLuftfeuchtigkeit()));
print("Ultraschall-Links: {0}cm".format(self.ultraschallLinks.getValue()));
print("Ultraschall-Mitte: {0}cm".format(self.ultraschallMitte.getValue()));
print("Ultraschall-Rechts: {0}cm".format(self.ultraschallRechts.getValue()));
print("Infarot Links: {0}".format(self.infarotLinks.getValue()));
print("Infarot Mitte-Links: {0}".format(self.infarotMitteLinks.getValue()));
print("Infarot Mitte-Rechts: {0}".format(self.infarotMitteRechts.getValue()));
print("Infarot Rechts: {0}".format(self.infarotRechts.getValue()));
def saveToDB(self): #Speichert die Werte in der Datenbank
pass