57 lines
1.5 KiB
Python
57 lines
1.5 KiB
Python
from telemetrix_rpi_pico import telemetrix_rpi_pico
|
|
import kuukar_leds
|
|
import kuukar_collision
|
|
import kuukar_motion
|
|
import kuukar_lcd
|
|
import kuukar_sensors
|
|
import kuukar_environment
|
|
from flask import Flask, request
|
|
|
|
from kuukar_config import SERIAL_AUX_BOARD, SERIAL_DRIVER_BOARD
|
|
|
|
app = Flask(__name__)
|
|
|
|
aux_board = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_AUX_BOARD)
|
|
driver_board = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRIVER_BOARD)
|
|
sensors = kuukar_sensors.sensors(aux_board, driver_board)
|
|
leds = kuukar_leds.leds(aux_board=aux_board)
|
|
lcd = kuukar_lcd.lcd()
|
|
environment = kuukar_environment.environment(lcd, leds, sensors)
|
|
collision = kuukar_collision.collision(aux_board, lcd, leds)
|
|
motion = kuukar_motion.motion(driver_board=driver_board, leds=leds, sensors=sensors)
|
|
|
|
|
|
@app.route('/drive')
|
|
def drive():
|
|
speed = int(request.args.get('speed'))
|
|
motion.drive(speed)
|
|
|
|
|
|
@app.route("/stop")
|
|
def stop():
|
|
motion.stop()
|
|
|
|
|
|
@app.route('/turn')
|
|
def turn():
|
|
speed = int(request.args.get('speed'))
|
|
duration = int(request.args.get('duration'))
|
|
motion.turn(speed, duration)
|
|
|
|
|
|
@app.route('/set_ambient_leds')
|
|
def set_ambient_leds():
|
|
r = int(request.args.get('r'))
|
|
g = int(request.args.get('g'))
|
|
b = int(request.args.get('b'))
|
|
leds.set_ambient_led(r, g, b)
|
|
|
|
|
|
@app.route('/set_mode')
|
|
def set_mode():
|
|
mode = str(request.args.get('mode'))
|
|
if mode == "AI":
|
|
motion.roam_start()
|
|
elif mode == "MANUAL":
|
|
motion.roam_stop()
|
|
|