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MotorProgramv5.py
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MotorProgramv5.py
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import RPi.GPIO as GPIO
import time
import socket
import struct
import select
import sys
from threading import Timer
ENA = 4
ENB = 23
IN1 = 17
IN2 = 18
IN3 = 27
IN4 = 22
motot1 = None
motor2 = None
networkHubSocket = None
previousTime = None
automationHubSocket = None
TIME_LIMIT = 1
COMMAND_ARM = 200
COMMAND_REST_ARM = 0
COMMAND_INITIATE_ARM = 1
frontSensorClear = True
backSensorClear = True
rightSensorClear = True
leftSensorClear = True
INPUT_FORMAT = 'i i ?'
AUTOMATION_FORMAT = '? ? ? ?'
def setup():
global motor1
global motor2
GPIO.setmode(GPIO.BCM)
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
GPIO.setup(ENA, GPIO.OUT)
GPIO.setup(ENB, GPIO.OUT)
motor1 = GPIO.PWM(ENA, 2000)
motor2 = GPIO.PWM(ENB, 2000)
motor1.start(0)
motor2.start(0)
def moveForward():
global motor1
global motor2
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
motor1.start(80)
motor2.start(80)
def moveBackward():
global motor1
global motor2
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
motor1.start(80)
motor2.start(80)
def runMotors(leftPower, rightPower, sensorsOn):
global motor1
global motor2
global frontSensorClear
global backSensorClear
global rightSensorClear
global leftSensorClear
absRightPower = abs(rightPower)
absLeftPower = abs(leftPower)
if(sensorsOn):
if (rightPower > 0 and rightPower == leftPower and not frontSensorClear):
# Motors trying to go front and sensor not clear
print('Front sensors not clear')
leftPower = 0
rightPower = 0
if (rightPower < 0 and rightPower == leftPower and not backSensorClear):
# Motors trying to go back and sensor not clear
print('Back sensors not clear')
leftPower = 0
rightPower = 0
elif (absRightPower < absLeftPower and not rightSensorClear):
# Motors trying to turn right and right sensor not clear
print('Right sensor not clear')
leftPower = 0
rightPower = 0
elif (absRightPower > absLeftPower and not leftSensorClear):
# Motors trying to turn left and left sensor not clear
print('Left sensor not clear')
leftPower = 0
rightPower = 0
elif (rightPower < leftPower and absRightPower == absLeftPower and not rightSensorClear):
# Motors are spinning right and right sensor not clear
print('Right sensor not clear')
leftPower = 0
rightPower = 0
elif (rightPower > leftPower and absRightPower == absLeftPower and not leftSensorClear):
# Motors are spinning left and left sensor not clear
print('left sensor not clear')
leftPower = 0
rightPower = 0
if (leftPower >= 0):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
motor1.start(abs(leftPower))
elif (leftPower < 0):
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
motor1.start(abs(leftPower))
if (rightPower >= 0):
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
motor2.start(abs(rightPower))
elif (rightPower < 0):
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
motor2.start(abs(rightPower))
def connectToAutomationHub():
global automationHubSocket
automationHubSocket = socket.socket()
automationHubSocket.setblocking(0)
hostname = socket.gethostname()
port = 4002
while(1):
time.sleep(0.5)
print("Connecting to automation hub")
try:
automationHubSocket.connect((hostname, port))
print('Connected to automation hub')
break
except socket.error as e:
print('Cant connect to automation hub')
automationHubSocket.close
except KeyboardInterrupt:
print("Program Ended")
automationHubSocket.close
sys.exit()
def connectToNetworkHub():
global networkHubSocket
networkHubSocket = socket.socket()
networkHubSocket.setblocking(0)
hostname = socket.gethostname()
port = 4001
while(1):
time.sleep(0.5)
print("Connecting to network hub")
try:
networkHubSocket.connect((hostname, port))
print('Connected to network hub')
break
except socket.error as e:
print('Cant connect to network hub')
networkHubSocket.close
except KeyboardInterrupt:
print("Program Ended")
networkHubSocket.close
sys.exit()
def chooseMotor():
global activeMotor
motorNum = input('Choose Motor')
if(motorNum == MOTOR_0):
activeMotor = motorNum
elif(motorNum == MOTOR_1):
activeMotor = motorNum
elif(motorNum == MOTOR_2):
activeMotor = motorNum
else:
activeMotor = MOTOR_0
def stopMotors():
runMotors(0, 0, False)
def closeConnections():
global networkHubSocket
shutdownSocket(networkHubSocket)
def stopCommand():
closeConnections()
connectToNetworkHub()
def shutdownSocket(socket):
try:
socket.shutdown(socket.SHUT_RDWR)
socket.close
except:
print("Socket already closed")
setup()
connectToNetworkHub()
connectToAutomationHub()
while(1):
try:
print("Waiting...")
readable, writable, exceptional = select.select([networkHubSocket, automationHubSocket], [], [])
for socket in readable:
if socket is networkHubSocket:
unpackedCommand = socket.recv(struct.calcsize(INPUT_FORMAT))
command = struct.unpack(INPUT_FORMAT, unpackedCommand)
print(command)
leftPower = command[0]
rightPower = command[1]
sensorsOn = command[2]
runMotors(leftPower, rightPower, sensorsOn)
elif socket is automationHubSocket:
packedCommand = socket.recv(struct.calcsize(AUTOMATION_FORMAT))
command = struct.unpack(AUTOMATION_FORMAT, packedCommand)
print(command)
frontSensorClear = command[0]
backSensorClear = command[1]
rightSensorClear = command[2]
leftSensorClear = command[3]
except KeyboardInterrupt:
stopMotors()
break
except:
print('Program Error')
stopMotors()