add leds signal and headlight handling
This commit is contained in:
parent
e5864eeec5
commit
e117177b9b
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# Default ignored files
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/shelf/
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/workspace.xml
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# Editor-based HTTP Client requests
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/httpRequests/
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# Datasource local storage ignored files
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/dataSources/
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/dataSources.local.xml
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<component name="InspectionProjectProfileManager">
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<settings>
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<option name="USE_PROJECT_PROFILE" value="false" />
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<version value="1.0" />
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</settings>
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</component>
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<?xml version="1.0" encoding="UTF-8"?>
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<module type="PYTHON_MODULE" version="4">
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<component name="NewModuleRootManager">
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<content url="file://$MODULE_DIR$">
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<excludeFolder url="file://$MODULE_DIR$/venv" />
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</content>
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<orderEntry type="inheritedJdk" />
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<orderEntry type="sourceFolder" forTests="false" />
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</component>
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</module>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (kuukar-rpi)" project-jdk-type="Python SDK" />
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</project>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectModuleManager">
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<modules>
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<module fileurl="file://$PROJECT_DIR$/.idea/kuukar-rpi.iml" filepath="$PROJECT_DIR$/.idea/kuukar-rpi.iml" />
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</modules>
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</component>
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</project>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$" vcs="Git" />
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</component>
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</project>
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16
kuukar.py
16
kuukar.py
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@ -1,13 +1,19 @@
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from telemetrix_rpi_pico import telemetrix_rpi_pico
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import kuukar_leds, kuukar_collision, kuukar_motion, kuukar_lcd, kuukar_sensors, kuukar_environment
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import kuukar_leds
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import kuukar_collision
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import kuukar_motion
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import kuukar_lcd
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import kuukar_sensors
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import kuukar_environment
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from kuukar_config import SERIAL_AUX_BOARD, SERIAL_DRIVER_BOARD
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if __name__ == '__main__':
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aux_board = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_AUX_BOARD)
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driver_board = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRIVER_BOARD)
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sensors = kuukar_sensors.sensors(aux_board,driver_board)
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sensors = kuukar_sensors.sensors(aux_board, driver_board)
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leds = kuukar_leds.leds(aux_board=aux_board)
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lcd = kuukar_lcd.lcd()
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environment = kuukar_environment.environment(lcd,leds,sensors)
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collision = kuukar_collision.collision(aux_board,lcd,leds)
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motion = kuukar_motion.motion(driver_board=driver_board,leds=leds,sensors= sensors)
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environment = kuukar_environment.environment(lcd, leds, sensors)
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collision = kuukar_collision.collision(aux_board, lcd, leds)
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motion = kuukar_motion.motion(driver_board=driver_board, leds=leds, sensors=sensors)
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@ -13,5 +13,5 @@ class collision:
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def collision_handle(self, data):
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val = data[2]
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if val == 1:
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self.leds.__flasher__(r=255,g=0,b=0,duration=250)
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self.leds.__flasher(r=255, g=0, b=0, duration=250)
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self.lcd.play_video("keke_hurt")
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@ -18,7 +18,7 @@ MOTOR_RL_R = 11
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MOTOR_RR_F = 12
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MOTOR_RR_R = 13
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# Full Speed 90 Degress Turn Time
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# Full Speed 90 Degrees Turn Time
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TURN_TIME_FS_90DEG_MS = 1500
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SERIAL_AUX_BOARD = "/dev/serial/by-id/..."
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@ -27,7 +27,13 @@ COLLISION_DETECTOR_PIN = 2
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LEDS_DATA_PIN = 3
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LEDS_NUM = 15
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HEADLIGHT_LEDS = [5, 10]
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LEFT_SIGNAL_LEDS = [6, 3]
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RIGHT_SIGNAL_LEDS = [7, 4]
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REVERSE_LEDS = [1, 2]
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LIGHT_ANALOG_PIN = 0
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DHT22_PIN = 5
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SERIAL_LCD = "/dev/serial/by-id/..."
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SERIAL_LCD = "/dev/serial/by-id/..."
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@ -10,7 +10,7 @@ class cv:
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def capture_image(self):
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pass
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def detectFace(self, image):
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def detect_face(self, image):
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pass
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def handle_face_detected(self):
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@ -12,9 +12,9 @@ class environment:
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self.lcd = lcd
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self.leds = leds
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self.sensors = sensors
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threading.Thread(target=self.__checker__).start()
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threading.Thread(target=self.__checker).start()
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def __checker__(self):
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def __checker(self):
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while True:
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if self.sensors.get_temperature() > 38.0:
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if not self.t_alerted:
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@ -30,4 +30,8 @@ class environment:
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else:
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self.h_alerted = False
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sleep(5)
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if self.sensors.get_brightness_pct() < 50:
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self.leds.set_headlights(True)
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else:
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self.leds.set_headlights(False)
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sleep(1)
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@ -2,36 +2,79 @@ import threading
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from time import perf_counter
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from telemetrix_rpi_pico import telemetrix_rpi_pico
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import time
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from kuukar_config import LEDS_DATA_PIN, LEDS_NUM
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from kuukar_config import LEDS_DATA_PIN, LEDS_NUM, HEADLIGHT_LEDS, LEFT_SIGNAL_LEDS, RIGHT_SIGNAL_LEDS, REVERSE_LEDS
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class leds:
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flashing = False
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headlight = False
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reverse_signal = False
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left_signal = False
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right_signal = False
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ambient_light = [0, 0, 0]
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start_time = perf_counter()
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def __init__(self, aux_board: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
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self.aux_board = aux_board
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self.aux_board.set_pin_mode_neopixel(LEDS_DATA_PIN, LEDS_NUM)
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def flash(self,r: int, g: int, b: int, duration: int):
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def set_headlights(self, state: bool):
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headlight = True
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self.__update_leds()
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def set_left_signal_led(self, state: bool):
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self.left_signal = state
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self.__update_leds()
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def set_right_signal_led(self, state: bool):
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self.right_signal = state
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self.__update_leds()
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def set_ambient_led(self, r: int, g: int, b: int):
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self.ambient_light = [r, g, b]
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self.__update_leds()
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def set_reverse_led(self, state: bool):
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self.reverse_signal = True
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self.__update_leds()
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def __update_leds(self):
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self.aux_board.neopixel_fill(r=self.ambient_light[0], g=self.ambient_light[1], b=self.ambient_light[2])
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if self.headlight:
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for led in HEADLIGHT_LEDS:
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self.aux_board.neo_pixel_set_value(led, self.headlight * 255, self.headlight * 255,
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self.headlight * 255)
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if self.left_signal:
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for led in LEFT_SIGNAL_LEDS:
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self.aux_board.neo_pixel_set_value(led, 255, 0, 0)
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if self.right_signal:
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for led in RIGHT_SIGNAL_LEDS:
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self.aux_board.neo_pixel_set_value(led, 255, 0, 0)
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if self.reverse_signal:
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for led in REVERSE_LEDS:
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self.aux_board.neo_pixel_set_value(led, 255, 0, 0)
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self.aux_board.neopixel_show()
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def flash(self, r: int, g: int, b: int, duration: int):
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if not self.flashing:
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self.flashing = True
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self.start_time = perf_counter()
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threading.Thread(target=self.__flasher__,args=(r,g,b,duration))
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threading.Thread(target=self.__flasher, args=(r, g, b, duration))
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@staticmethod
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def __blink_func__(t: float,dur: float):
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if t>dur:
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def __blink_func(t: float, dur: float):
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if t > dur:
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return 0
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return (-1/(dur/2.0)**2)*(t-dur/2.0)**2+1
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return (-1 / (dur / 2.0) ** 2) * (t - dur / 2.0) ** 2 + 1
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def __get_time__(self) -> float:
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return perf_counter()-self.start_time
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def __get_time(self) -> float:
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return perf_counter() - self.start_time
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def __flasher__(self, r: int, g: int, b: int, duration: int):
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def __flasher(self, r: int, g: int, b: int, duration: int):
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while True:
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print(leds.__blink_func__(self.__get_time__(),duration))
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print(leds.__blink_func(self.__get_time(), duration))
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time.sleep(0.05)
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if self.__get_time__ > duration:
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if self.__get_time > duration:
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flashing = False
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break
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break
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@ -38,14 +38,25 @@ class motion:
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self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
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def turn(self, speed: int, duration: float):
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if speed > 0:
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self.leds.set_right_signal_led(True)
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elif speed < 0:
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self.leds.set_left_signal_led(True)
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self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
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self.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
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self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
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self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
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time.sleep(duration)
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self.stop()
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if speed > 0:
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self.leds.set_right_signal_led(False)
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elif speed < 0:
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self.leds.set_left_signal_led(False)
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def stop(self):
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self.leds.set_left_signal_led(False)
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self.leds.set_right_signal_led(False)
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self.leds.set_reverse_led(False)
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self.drive(0)
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def roam_start(self):
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@ -54,15 +65,15 @@ class motion:
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def roam_stop(self):
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self.roaming = False
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def __roam_looper__(self):
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def __roam_looper(self):
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while True:
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if self.roaming:
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self.__roam_handle__()
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self.__roam_handle()
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def __roam_handle__(self):
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def __roam_handle(self):
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self.drive(50)
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f_dist = self.sensors.sonar_get_distance(2)
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if f_dist > 0 and f_dist < 20: # Close to collision, turn the vehicle
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if 0 < f_dist < 20: # Close to collision, turn the vehicle
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l_dist = self.sensors.sonar_get_distance
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r_dist = self.sensors.sonar_get_distance
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if l_dist < 20: # Left side is blocked
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@ -19,9 +19,9 @@ class nextion:
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def __init__(self) -> None:
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self.device = serial.Serial(SERIAL_LCD, baudrate=19200, timeout=5)
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self.__send_stop_bit__()
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self.__send_stop_bit()
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self.reset_device()
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threading.Thread(target=self.__serial_reader__).start()
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threading.Thread(target=self.__serial_reader).start()
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threading.Thread(target=self.__serial_writer__).start()
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def send_command(self, command: str):
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@ -31,22 +31,22 @@ class nextion:
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def __serial_writer__(self):
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if len(self.__commands_output_buffer__) > 0:
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self.device.write(self.__commands_output_buffer__.pop(0))
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self.__send_stop_bit__()
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self.__send_stop_bit()
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def reset_device(self):
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self.send_command("rest")
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def __get_stop_bit__(self) -> bytearray:
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def __get_stop_bit(self) -> bytearray:
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stop_bit = bytearray()
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stop_bit.append(0xFF)
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stop_bit.append(0xFF)
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stop_bit.append(0XFF)
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return stop_bit
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def __send_stop_bit__(self):
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self.device.write(self.__get_stop_bit__())
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def __send_stop_bit(self):
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self.device.write(self.__get_stop_bit())
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def __serial_reader__(self) -> None:
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def __serial_reader(self) -> None:
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ser = self.device
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while True:
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if self.allow_serial_read:
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@ -1,44 +1,54 @@
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from telemetrix_rpi_pico import telemetrix_rpi_pico
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from kuukar_config import DHT22_PIN, SONAR_1_ECHO_PIN, SONAR_1_TRIG_PIN, SONAR_2_ECHO_PIN, SONAR_2_TRIG_PIN, SONAR_3_ECHO_PIN, SONAR_3_TRIG_PIN
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from kuukar_config import DHT22_PIN, SONAR_1_ECHO_PIN, SONAR_1_TRIG_PIN,\
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SONAR_2_ECHO_PIN, SONAR_2_TRIG_PIN, SONAR_3_ECHO_PIN, SONAR_3_TRIG_PIN,\
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LIGHT_ANALOG_PIN
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class sensors:
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__sonar_trig_pins__ = [SONAR_1_TRIG_PIN,
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SONAR_2_TRIG_PIN, SONAR_3_TRIG_PIN]
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__sonar_distances__ = [0, 0, 0]
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__temperature__ = 0
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__humidity__ = 0
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__sonar_trig_pins = [SONAR_1_TRIG_PIN,
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SONAR_2_TRIG_PIN, SONAR_3_TRIG_PIN]
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__sonar_distances = [0, 0, 0]
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__temperature = 0
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__humidity = 0
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__brightness = 0
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def __init__(self, aux_board: telemetrix_rpi_pico.TelemetrixRpiPico, driver_board: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
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self.aux = aux_board
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self.driver = driver_board
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self.driver.set_pin_mode_sonar(
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SONAR_1_TRIG_PIN, SONAR_1_ECHO_PIN, self.__sonar_callback__)
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SONAR_1_TRIG_PIN, SONAR_1_ECHO_PIN, self.__sonar_callback)
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self.driver.set_pin_mode_sonar(
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SONAR_2_TRIG_PIN, SONAR_2_ECHO_PIN, self.__sonar_callback__)
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SONAR_2_TRIG_PIN, SONAR_2_ECHO_PIN, self.__sonar_callback)
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self.driver.set_pin_mode_sonar(
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SONAR_3_TRIG_PIN, SONAR_3_ECHO_PIN, self.__sonar_callback__)
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self.driver.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback__)
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SONAR_3_TRIG_PIN, SONAR_3_ECHO_PIN, self.__sonar_callback)
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self.driver.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback)
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self.aux.set_pin_mode_analog_input(LIGHT_ANALOG_PIN, 0, self.__light_sensor_callback())
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def sonar_get_distance(self, id: int) -> float:
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return self.__sonar_distances__[id]
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return self.__sonar_distances[id]
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def __sonar_callback__(self, data):
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def __sonar_callback(self, data):
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pin = data[1]
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distance = data[2]
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sonar_id = self.__sonar_trig_pins__.index(pin)
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self.__sonar_distances__[sonar_id] = distance
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sonar_id = self.__sonar_trig_pins.index(pin)
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self.__sonar_distances[sonar_id] = distance
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def get_brightness_pct(self) -> float:
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return self.__brightness
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def get_temperature(self) -> float:
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return self.__temperature__
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return self.__temperature
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def get_humidity_pct(self) -> float:
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return self.__humidity__
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return self.__humidity
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def __dht22_callback__(self, data):
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def __light_sensor_callback(self, data):
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self.__brightness = data[2]
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def __dht22_callback(self, data):
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humidity = data[3]
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temperature = data[4]
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self.__humidity__ = humidity
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self.__temperature__ = temperature
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self.__humidity = humidity
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self.__temperature = temperature
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