/
main_v2.py
978 lines (801 loc) · 30.4 KB
/
main_v2.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
#######################################################################
# my smart car pygame interface for the raspberry pi
#
# based on the original Freenove code here:
# https://github.com/Freenove/Freenove_Three-wheeled_Smart_Car_Kit_for_Raspberry_Pi/
#
# Author: Garry Morrison
# email: garry.morrison _at_ gmail.com
# Date: 13/4/2018
# Update: 21/4/2018
# Copyright: GPLv3
#
# Usage:
# Log into the raspberry pi with VNC or XRDP
# open a terminal
# run: python3 main_v2.py
#
#######################################################################
import pygame
import sys
import time
# from multiprocessing import Process, Value
import multiprocessing as mp
# try to set up smbus:
# (this will only work on the raspberry pi, so if it fails we drop back to dummy mode)
try:
import smbus
smbus_address = 0x18 # default address
bus = smbus.SMBus(1)
bus.open(1)
have_smbus = True
except ImportError:
print('failed to import smbus, dummy mode on')
have_smbus = False
pygame.init()
# try to set up the camera:
# (again, this will only work on the raspberry pi, so if it fails we drop back to a static image)
try:
import pygame.camera
pygame.camera.init()
camera_list = pygame.camera.list_cameras()
if not camera_list:
have_camera = False
else:
cam = pygame.camera.Camera(camera_list[0], (320, 240))
cam.start()
have_camera = True
except ImportError:
print('failed to find a camera')
have_camera = False
# define some colours:
RED = (255, 0, 0)
BLUE = (0, 0, 255)
BLACK = (0, 0, 0)
WHITE = (255, 255, 255)
GREY = (200, 200, 200)
GREY2 = (180, 180, 180)
GREY3 = (100, 100, 100)
# RED = (200, 0, 0)
BRIGHT_RED = (255, 0, 0)
GREEN = (0, 200, 0)
BRIGHT_GREEN = (0, 255, 0)
# BLUE = (0, 0, 200)
BRIGHT_BLUE = (0, 0, 255)
ORANGE = (200, 100, 50)
CYAN = (0, 255, 255)
MAGENTA = (255, 0, 255)
TRANS = (1, 1, 1)
# define some display constants:
display_width = 700
display_height = 540
background_color = WHITE
# define IO constants:
CMD_SERVO1 = 0
CMD_SERVO2 = 1
CMD_SERVO3 = 2
CMD_SERVO4 = 3
CMD_PWM1 = 4
CMD_PWM2 = 5
CMD_DIR1 = 6
CMD_DIR2 = 7
CMD_BUZZER = 8
CMD_IO1 = 9
CMD_IO2 = 10
CMD_IO3 = 11
CMD_SONIC = 12
SERVO_MAX_PULSE_WIDTH = 2500
SERVO_MIN_PULSE_WIDTH = 500
def constrain(val, min_val, max_val):
val = max(val, min_val)
val = min(val, max_val)
return val
def num_map(value, fromLow, fromHigh, toLow, toHigh):
return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow
def write_reg(cmd, value):
try:
value = int(value)
bus.write_i2c_block_data(smbus_address, cmd, [value >> 8, value & 0xff])
time.sleep(0.001)
except Exception as e:
print('write_reg exception: %s' % e)
def write_servo(cmd, value):
try:
# value = int(num_map(value, 0, 180, 500, 2500))
value = constrain(value, 0, 180)
value = int(num_map(value, 0, 180, SERVO_MIN_PULSE_WIDTH, SERVO_MAX_PULSE_WIDTH))
write_reg(cmd, value)
except Exception as e:
print('write_servo exception: %s' % e)
def write_LED(cmd, value):
try:
value = int(value)
bus.write_i2c_block_data(smbus_address, cmd, [value >> 8, value & 0xff])
# bus.write_byte_data(smbus_address, cmd, value & 0xff)
except Exception as e:
print('write_LED exception: %s' % e)
# initial button and slider code from here:
# http://www.dreamincode.net/forums/topic/401541-buttons-and-sliders-in-pygame/
class Button():
def __init__(self, txt, location, action_down, action_up, bg=WHITE, fg=BLACK, size=(80, 30), font_name="Verdana", font_size=14):
self.color = bg # the static (normal) color
self.bg = bg # actual background color, can change on mouseover
self.fg = fg # text color
self.size = size
self.font = pygame.font.SysFont(font_name, font_size)
self.txt = txt
self.txt_surf = self.font.render(self.txt, 1, self.fg)
self.txt_rect = self.txt_surf.get_rect(center=[s//2 for s in self.size])
self.surface = pygame.surface.Surface(size)
self.rect = self.surface.get_rect(center=location)
self.call_back_down_ = action_down
self.call_back_up_ = action_up
def draw(self):
self.mouseover()
self.surface.fill(self.bg)
pygame.draw.rect(self.surface, BLACK, [0, 0, self.size[0], self.size[1]], 1)
self.surface.blit(self.txt_surf, self.txt_rect)
screen.blit(self.surface, self.rect)
def mouseover(self):
self.bg = self.color
pos = pygame.mouse.get_pos()
if self.rect.collidepoint(pos):
self.bg = GREY # mouseover color
def call_back_down(self):
self.call_back_down_(self)
# color = self.call_back_down_()
# if color is not None:
# self.color = color
def call_back_up(self):
self.call_back_up_(self)
# color = self.call_back_up_()
# if color is not None:
# self.color = color
class Slider():
def __init__(self, name, val, maxi, mini, xpos, ypos, action=None):
self.val = val # start value
self.maxi = maxi # maximum at slider position right
self.mini = mini # minimum at slider position left
self.xpos = xpos - 50 # x-location on screen
self.ypos = ypos - 20 # y-location on screen
self.surf = pygame.surface.Surface((100, 50))
self.hit = False # the hit attribute indicates slider movement due to mouse interaction
self.call_back = action
self.font = pygame.font.SysFont("Verdana", 12)
# font = pygame.font.SysFont("Trebuchet MS", 12)
# self.txt_surf = font.render(name, 1, BLACK)
self.txt_surf = self.font.render(str(self.val), 1, BLACK)
self.txt_rect = self.txt_surf.get_rect(center=(50, 15))
# Static graphics - slider background #
# self.surf.fill((100, 100, 100))
# pygame.draw.rect(self.surf, GREY, [0, 0, 100, 50], 3)
# pygame.draw.rect(self.surf, ORANGE, [10, 10, 80, 10], 0)
# pygame.draw.rect(self.surf, WHITE, [10, 30, 80, 5], 0)
self.surf.fill(WHITE)
# pygame.draw.rect(self.surf, WHITE, [0, 0, 100, 50], 3)
# pygame.draw.rect(self.surf, ORANGE, [10, 10, 80, 10], 0)
pygame.draw.rect(self.surf, GREY, [10, 30, 80, 5], 0)
self.surf.blit(self.txt_surf, self.txt_rect) # this surface never changes
# dynamic graphics - button surface #
self.button_surf = pygame.surface.Surface((20, 20))
self.button_surf.fill(TRANS)
self.button_surf.set_colorkey(TRANS)
pygame.draw.circle(self.button_surf, BLACK, (10, 10), 6, 0)
pygame.draw.circle(self.button_surf, ORANGE, (10, 10), 4, 0)
def draw(self):
""" Combination of static and dynamic graphics in a copy of
the basic slide surface
"""
# static
surf = self.surf.copy()
# dynamic
# slider value:
self.surf.fill(WHITE)
# pygame.draw.rect(self.surf, WHITE, [0, 0, 100, 50], 3)
pygame.draw.rect(self.surf, GREY, [10, 30, 80, 5], 0)
self.txt_surf = self.font.render(str(int(self.val)), 1, BLACK)
self.surf.blit(self.txt_surf, self.txt_rect)
# slider button:
pos = (10 + int((self.val - self.mini) / (self.maxi - self.mini) * 80), 33)
self.button_rect = self.button_surf.get_rect(center=pos)
surf.blit(self.button_surf, self.button_rect)
self.button_rect.move_ip(self.xpos, self.ypos) # move of button box to correct screen position
# screen
screen.blit(surf, (self.xpos, self.ypos))
def move(self):
"""
The dynamic part; reacts to movement of the slider button.
"""
self.val = (pygame.mouse.get_pos()[0] - self.xpos - 10) / 80 * (self.maxi - self.mini) + self.mini
if self.val < self.mini:
self.val = self.mini
if self.val > self.maxi:
self.val = self.maxi
if self.call_back is not None:
self.call_back(self.val)
# define our call-back functions:
def red_pressed(me):
global is_red
is_red = not is_red
print('red!', flush=True)
if is_red:
if have_smbus:
# write_reg(CMD_IO1, 0)
dim_red.value = int(pwm_red.val)
# return RED
me.color = RED
else:
if have_smbus:
# write_reg(CMD_IO1, 1)
dim_red.value = 0
me.color = GREY2
def red_released(me):
pass
def green_pressed(me):
global is_green
is_green = not is_green
print('green!', flush=True)
if is_green:
if have_smbus:
# write_reg(CMD_IO2, 0)
dim_green.value = int(pwm_green.val)
# return GREEN
me.color = GREEN
else:
if have_smbus:
# write_reg(CMD_IO2, 1)
dim_green.value = 0
me.color = GREY2
def green_released(me):
pass
def blue_pressed(me):
global is_blue
is_blue = not is_blue
print('blue!', flush=True)
if is_blue:
if have_smbus:
# write_reg(CMD_IO3, 0)
dim_blue.value = int(pwm_blue.val)
# return BLUE
me.color = BLUE
else:
if have_smbus:
# write_reg(CMD_IO3, 1)
dim_blue.value = 0
me.color = GREY2
def blue_released(me):
pass
def buzzer_pressed(me):
print('buzzer %s!' % int(buzzer_freq.val), flush=True)
if have_smbus:
write_reg(CMD_BUZZER, buzzer_freq.val)
def buzzer_released(me):
print('buzzer off!', flush=True)
if have_smbus:
write_reg(CMD_BUZZER, 0)
def forward_pressed(me):
print('forward', str(int(10 * speed.val)), flush=True)
if have_smbus:
write_reg(CMD_DIR1, 1)
write_reg(CMD_DIR2, 1)
write_reg(CMD_PWM1, speed.val * 10 / 3)
write_reg(CMD_PWM2, speed.val * 10 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 20 / 3)
write_reg(CMD_PWM2, speed.val * 20 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 10)
write_reg(CMD_PWM2, speed.val * 10)
def forward_released(me):
print('stop!', flush=True)
if have_smbus:
write_reg(CMD_PWM1, 0)
write_reg(CMD_PWM2, 0)
def backward_pressed(me):
print('backward', str(int(10 * speed.val)), flush=True)
if have_smbus:
write_reg(CMD_DIR1, 0)
write_reg(CMD_DIR2, 0)
write_reg(CMD_PWM1, speed.val * 10 / 3)
write_reg(CMD_PWM2, speed.val * 10 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 20 / 3)
write_reg(CMD_PWM2, speed.val * 20 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 10)
write_reg(CMD_PWM2, speed.val * 10)
def backward_released(me):
print('stop!', flush=True)
if have_smbus:
write_reg(CMD_PWM1, 0)
write_reg(CMD_PWM2, 0)
def left_pressed(me):
print('left', flush=True)
global state_servo_1
state_servo_1 += turning_angle.val
state_servo_1 = constrain(state_servo_1, 0, 180)
current_angle.val = 180 - state_servo_1
if have_smbus:
# write_reg(CMD_SERVO1, num_map(state_servo_1, 0, 180, 500, 2500))
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def left_released(me):
pass
def right_pressed(me):
print('right', flush=True)
global state_servo_1
state_servo_1 -= turning_angle.val
state_servo_1 = constrain(state_servo_1, 0, 180)
current_angle.val = 180 - state_servo_1
if have_smbus:
# write_reg(CMD_SERVO1, num_map(state_servo_1, 0, 180, 500, 2500))
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def right_released(me):
pass
def forward_left_pressed(me):
print('forward left', str(int(10 * speed.val)), flush=True)
if have_smbus:
write_reg(CMD_DIR1, 1)
write_reg(CMD_DIR2, 1)
write_reg(CMD_PWM1, speed.val * 10 / 3)
write_reg(CMD_PWM2, speed.val * 10 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 20 / 3)
write_reg(CMD_PWM2, speed.val * 20 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 10)
write_reg(CMD_PWM2, speed.val * 10)
global state_servo_1
state_servo_1 = current_angle.val + turning_angle.val
state_servo_1 = constrain(state_servo_1, 0, 180)
current_angle.val = 180 - state_servo_1
if have_smbus:
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def forward_left_released(me):
print('stop!', flush=True)
current_angle.val = 90
if have_smbus:
write_reg(CMD_PWM1, 0)
write_reg(CMD_PWM2, 0)
write_servo(CMD_SERVO1, 90 + fine_servo_1.val)
def forward_right_pressed(me):
print('forward right', str(int(10 * speed.val)), flush=True)
if have_smbus:
write_reg(CMD_DIR1, 1)
write_reg(CMD_DIR2, 1)
write_reg(CMD_PWM1, speed.val * 10 / 3)
write_reg(CMD_PWM2, speed.val * 10 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 20 / 3)
write_reg(CMD_PWM2, speed.val * 20 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 10)
write_reg(CMD_PWM2, speed.val * 10)
global state_servo_1
state_servo_1 = current_angle.val - turning_angle.val
state_servo_1 = constrain(state_servo_1, 0, 180)
current_angle.val = 180 - state_servo_1
if have_smbus:
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def forward_right_released(me):
print('stop!', flush=True)
current_angle.val = 90
if have_smbus:
write_reg(CMD_PWM1, 0)
write_reg(CMD_PWM2, 0)
write_servo(CMD_SERVO1, 90 + fine_servo_1.val)
def backward_left_pressed(me):
print('backward left', str(int(10 * speed.val)), flush=True)
if have_smbus:
write_reg(CMD_DIR1, 0)
write_reg(CMD_DIR2, 0)
write_reg(CMD_PWM1, speed.val * 10 / 3)
write_reg(CMD_PWM2, speed.val * 10 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 20 / 3)
write_reg(CMD_PWM2, speed.val * 20 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 10)
write_reg(CMD_PWM2, speed.val * 10)
global state_servo_1
state_servo_1 = current_angle.val + turning_angle.val
state_servo_1 = constrain(state_servo_1, 0, 180)
current_angle.val = 180 - state_servo_1
if have_smbus:
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def backward_left_released(me):
print('stop!', flush=True)
current_angle.val = 90
# current_angle.draw()
if have_smbus:
write_reg(CMD_PWM1, 0)
write_reg(CMD_PWM2, 0)
write_servo(CMD_SERVO1, 90 + fine_servo_1.val)
def backward_right_pressed(me):
print('backward right', str(int(10 * speed.val)), flush=True)
if have_smbus:
write_reg(CMD_DIR1, 0)
write_reg(CMD_DIR2, 0)
write_reg(CMD_PWM1, speed.val * 10 / 3)
write_reg(CMD_PWM2, speed.val * 10 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 20 / 3)
write_reg(CMD_PWM2, speed.val * 20 / 3)
time.sleep(0.07)
write_reg(CMD_PWM1, speed.val * 10)
write_reg(CMD_PWM2, speed.val * 10)
global state_servo_1
state_servo_1 = current_angle.val - turning_angle.val
state_servo_1 = constrain(state_servo_1, 0, 180)
current_angle.val = 180 - state_servo_1
if have_smbus:
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def backward_right_released(me):
print('stop!', flush=True)
current_angle.val = 90
if have_smbus:
write_reg(CMD_PWM1, 0)
write_reg(CMD_PWM2, 0)
write_servo(CMD_SERVO1, 90 + fine_servo_1.val)
def cam_up_pressed(me):
global state_servo_3
state_servo_3 += step_slider.val
state_servo_3 = constrain(state_servo_3, 0, 180)
vertical.val = state_servo_3
if have_smbus:
# write_reg(CMD_SERVO3, num_map(state_servo_3, 0, 180, 500, 2500))
write_servo(CMD_SERVO3, state_servo_3 + fine_servo_3.val)
def cam_up_released(me):
pass
def cam_down_pressed(me):
global state_servo_3
state_servo_3 -= step_slider.val
state_servo_3 = constrain(state_servo_3, 0, 180)
vertical.val = state_servo_3
if have_smbus:
# write_reg(CMD_SERVO3, num_map(state_servo_3, 0, 180, 500, 2500))
write_servo(CMD_SERVO3, state_servo_3 + fine_servo_3.val)
def cam_down_released(me):
pass
def cam_home_pressed(me):
global state_servo_2
global state_servo_3
state_servo_2 = 90
state_servo_3 = 90
horizontal.val = state_servo_2
vertical.val = state_servo_3
if have_smbus:
# write_reg(CMD_SERVO2, num_map(90, 0, 180, 500, 2500))
# write_reg(CMD_SERVO3, num_map(90, 0, 180, 500, 2500))
write_servo(CMD_SERVO2, 90 + fine_servo_2.val)
write_servo(CMD_SERVO3, 90 + fine_servo_3.val)
def cam_home_released(me):
pass
def cam_left_pressed(me):
global state_servo_2
# state_servo_2 -= 10
state_servo_2 -= step_slider.val
state_servo_2 = constrain(state_servo_2, 0, 180)
horizontal.val = state_servo_2
if have_smbus:
# write_reg(CMD_SERVO2, num_map(180 - state_servo_2, 0, 180, 500, 2500))
write_servo(CMD_SERVO2, 180 - state_servo_2 - fine_servo_2.val)
def cam_left_released(me):
pass
def cam_right_pressed(me):
global state_servo_2
# state_servo_2 += 10
state_servo_2 += step_slider.val
state_servo_2 = constrain(state_servo_2, 0, 180)
horizontal.val = state_servo_2
if have_smbus:
# write_reg(CMD_SERVO2, num_map(180 - state_servo_2, 0, 180, 500, 2500))
write_servo(CMD_SERVO2, 180 - state_servo_2 - fine_servo_2.val)
def cam_right_released(me):
pass
def vertical_moved(val):
global state_servo_3
state_servo_3 = int(val)
# print(state_servo_3)
if have_smbus:
# write_reg(CMD_SERVO3, num_map(state_servo_3, 0, 180, 500, 2500))
write_servo(CMD_SERVO3, state_servo_3 + fine_servo_3.val)
def horizontal_moved(val):
global state_servo_2
state_servo_2 = int(val)
if have_smbus:
# write_reg(CMD_SERVO2, num_map(180 - state_servo_2, 0, 180, 500, 2500))
write_servo(CMD_SERVO2, 180 - state_servo_2 - fine_servo_2.val)
def current_angle_moved(val):
global state_servo_1
state_servo_1 = int(val)
if have_smbus:
# write_reg(CMD_SERVO1, num_map(state_servo_1, 0, 180, 500, 2500))
write_servo(CMD_SERVO1, state_servo_1 + fine_servo_1.val)
def red_pwm_moved(val):
if have_smbus:
if is_red:
dim_red.value = int(val)
else:
dim_red.value = 0
def green_pwm_moved(val):
if have_smbus:
if is_green:
dim_green.value = int(val)
else:
dim_green.value = 0
def blue_pwm_moved(val):
if have_smbus:
if is_blue:
dim_blue.value = int(val)
else:
dim_blue.value = 0
def dimmer(n, cmd):
smbus_address = 0x18 # default address
bus = smbus.SMBus(1)
bus.open(1)
start_time = time.time()
bus.write_i2c_block_data(smbus_address, CMD_IO1, [0, 0])
bus.write_i2c_block_data(smbus_address, CMD_IO1, [0, 1])
bus.write_i2c_block_data(smbus_address, CMD_IO2, [0, 0])
bus.write_i2c_block_data(smbus_address, CMD_IO2, [0, 1])
bus.write_i2c_block_data(smbus_address, CMD_IO3, [0, 0])
bus.write_i2c_block_data(smbus_address, CMD_IO3, [0, 1])
end_time = time.time()
delta_time = end_time - start_time
print(delta_time)
while True:
pwm = n.value
if pwm == -1:
return
if pwm > 0:
bus.write_i2c_block_data(smbus_address, cmd, [0, 0])
for pwm_counter in range(5):
if pwm_counter < pwm:
time.sleep(delta_time/6)
else:
bus.write_i2c_block_data(smbus_address, cmd, [0, 1])
def mousebuttondown():
pos = pygame.mouse.get_pos()
for button in buttons:
if button.rect.collidepoint(pos):
button.call_back_down()
for s in slides:
if s.button_rect.collidepoint(pos):
s.hit = True
def mousebuttonup():
pos = pygame.mouse.get_pos()
for button in buttons:
if button.rect.collidepoint(pos):
button.call_back_up()
for s in slides:
s.hit = False
if __name__ == '__main__':
# initialize screen:
screen = pygame.display.set_mode((display_width, display_height))
pygame.display.set_caption('Smart Car')
screen.fill(background_color)
# define initial state of LED colours:
is_red = False
is_green = False
is_blue = True
# define initial state of color buttons:
button_red_color = GREY2
button_green_color = GREY2
button_blue_color = GREY2
if is_red:
button_red_color = RED
if is_green:
button_green_color = GREEN
if is_blue:
button_blue_color = BLUE
# define state of servos:
state_servo_1 = 90 # servo_1 is turning angle
state_servo_2 = 90 # servo_2 is horizontal camera angle
state_servo_3 = 90 # servo_3 is vertical camera angle
# initialize the car:
if have_smbus:
# set servo's to initial state:
# write_reg(CMD_SERVO1, num_map(state_servo_1, 0, 180, 500, 2500))
# write_reg(CMD_SERVO2, num_map(state_servo_2, 0, 180, 500, 2500))
# write_reg(CMD_SERVO3, num_map(state_servo_3, 0, 180, 500, 2500))
write_servo(CMD_SERVO1, state_servo_1)
write_servo(CMD_SERVO2, state_servo_2)
write_servo(CMD_SERVO3, state_servo_3)
# confirm buzzer off:
# write_reg(CMD_BUZZER, 0)
# flash LED's and buzz:
for _ in range(2):
write_reg(CMD_BUZZER, 2000)
write_reg(CMD_IO1, 0)
write_reg(CMD_IO2, 1)
write_reg(CMD_IO3, 1)
time.sleep(0.25)
write_reg(CMD_BUZZER, 3000)
write_reg(CMD_IO1, 1)
write_reg(CMD_IO2, 0)
write_reg(CMD_IO3, 1)
time.sleep(0.25)
write_reg(CMD_BUZZER, 4000)
write_reg(CMD_IO1, 1)
write_reg(CMD_IO2, 1)
write_reg(CMD_IO3, 0)
time.sleep(0.25)
write_reg(CMD_BUZZER, 0)
time.sleep(0.2)
# initialize the LED dimmer's:
dim_red = mp.Value('i', 5)
p_red = mp.Process(target=dimmer, args=(dim_red, CMD_IO1))
p_red.start()
dim_green = mp.Value('i', 5)
p_green = mp.Process(target=dimmer, args=(dim_green, CMD_IO2))
p_green.start()
dim_blue = mp.Value('i', 5)
p_blue = mp.Process(target=dimmer, args=(dim_blue, CMD_IO3))
p_blue.start()
# set LED's:
if is_red:
# write_reg(CMD_IO1, 0)
dim_red.value = 5
button_red_color = RED
else:
# write_reg(CMD_IO1, 1)
dim_red.value = 0
button_red_color = GREY2
if is_green:
# write_reg(CMD_IO2, 0)
dim_green.value = 5
button_green_color = GREEN
else:
# write_reg(CMD_IO2, 1)
dim_green.value = 0
button_green_color = GREY2
if is_blue:
# write_reg(CMD_IO3, 0)
dim_blue.value = 5
button_blue_color = BLUE
else:
# write_reg(CMD_IO3, 1)
dim_blue.value = 0
button_blue_color = GREY2
# insert smart car border:
surface = pygame.surface.Surface((324, 244))
surface.fill(BLACK)
screen.blit(surface, (0, 0))
# insert smart car image or video if possible:
if not have_camera:
img = pygame.image.load('car_photo.jpg') # if this fails, makes sure you have car_photo.jpg in your current directory
else:
if cam.query_image():
img = cam.get_image()
screen.blit(img, (2, 2))
# insert 'Servo Fine Tuning' text:
font = pygame.font.SysFont('Verdana', 20)
text_surf = font.render('Servo Fine Tuning', 1, BLACK)
screen.blit(text_surf, (320 + 60 + 40 + 20, 15))
# insert 'Car' text:
text_surf = font.render('Car', 1, BLACK)
screen.blit(text_surf, (145, 250))
# insert 'Camera' text:
text_surf = font.render('Camera', 1, BLACK)
screen.blit(text_surf, (500, 250))
# define our sliders:
# our slider font:
font = pygame.font.SysFont('Verdana', 12)
# servo 1, 2, 3, 4:
text_surf = font.render('Servo 1', 1, BLACK)
screen.blit(text_surf, (320 + 60 + 40 + 20, 60))
fine_servo_1 = Slider("Servo 1", 0, 10, -10, 540, 60)
text_surf = font.render('Servo 2', 1, BLACK)
screen.blit(text_surf, (320 + 60 + 40 + 20, 100))
fine_servo_2 = Slider("Servo 2", 0, 10, -10, 540, 100)
text_surf = font.render('Servo 3', 1, BLACK)
screen.blit(text_surf, (320 + 60 + 40 + 20, 140))
fine_servo_3 = Slider("Servo 3", 0, 10, -10, 540, 140)
text_surf = font.render('Servo 4', 1, BLACK)
screen.blit(text_surf, (320 + 60 + 40 + 20, 180))
fine_servo_4 = Slider("Servo 4", 0, 10, -10, 540, 180)
# turning angle:
text_surf = font.render('Turning angle', 1, BLACK)
screen.blit(text_surf, (18, 425))
turning_angle = Slider("turning angle", 10, 30, 0, 160, 425)
# current angle:
text_surf = font.render('Current angle', 1, BLACK)
screen.blit(text_surf, (18, 465))
current_angle = Slider("current angle", 90, 180, 0, 160, 465, action=current_angle_moved)
# speed:
text_surf = font.render('Speed', 1, BLACK)
screen.blit(text_surf, (60, 505))
speed = Slider("speed", 50, 100, 0, 160, 505)
# red pwm:
text_surf = font.render('Red', 1, BLACK)
screen.blit(text_surf, (260, 425))
pwm_red = Slider("pwm red", 5, 5, 0, 340, 425, action=red_pwm_moved)
# green pwm:
text_surf = font.render('Green', 1, BLACK)
screen.blit(text_surf, (247, 465))
pwm_green = Slider("pwm green", 5, 5, 0, 340, 465, action=green_pwm_moved)
# blue pwm:
text_surf = font.render('Blue', 1, BLACK)
screen.blit(text_surf, (255, 505))
pwm_blue = Slider("pwm blue", 5, 5, 0, 340, 505, action=blue_pwm_moved)
# camera horizontal angle:
text_surf = font.render('Horizontal', 1, BLACK)
screen.blit(text_surf, (45 + 380, 425))
horizontal = Slider("horizontal", 90, 180, 0, 160 + 380, 425, action=horizontal_moved)
# camera vertical angle:
text_surf = font.render('Vertical', 1, BLACK)
screen.blit(text_surf, (60 + 380, 465))
vertical = Slider("vertical", 90, 180, 0, 160 + 380, 465, action=vertical_moved)
# step:
text_surf = font.render('Step', 1, BLACK)
screen.blit(text_surf, (320 + 60 + 40 + 20 + 15, 505))
step_slider = Slider("Step", 10, 45, 0, 540, 505)
# buzzer slider:
buzzer_freq = Slider("buzzer freq", 2000, 6000, 0, 60 + 320, 190)
# define our list of sliders:
slides = [buzzer_freq, fine_servo_1, fine_servo_2, fine_servo_3, fine_servo_4, step_slider, turning_angle, current_angle, speed, horizontal, vertical]
slides += [pwm_red, pwm_green, pwm_blue]
# define our buttons:
button_red = Button("Red", (60 + 320, 30), red_pressed, red_released, bg=button_red_color, font_name="Segoe Print", font_size=16)
button_green = Button("Green", (60 + 320, 70), green_pressed, green_released, bg=button_green_color, font_name="Segoe Print", font_size=16)
button_blue = Button("Blue", (60 + 320, 110), blue_pressed, blue_released, bg=button_blue_color, font_name="Segoe Print", font_size=16)
button_buzzer = Button("Buzzer", (60 + 320, 150), buzzer_pressed, buzzer_released, bg=GREY2, font_name="Segoe Print", font_size=16)
button_forward = Button('FORWARD', (160, 300), forward_pressed, forward_released, bg = GREY2, size=(95, 30))
button_backward = Button('BACKWARD', (160, 380), backward_pressed, backward_released, bg = GREY2, size=(95, 30))
button_left = Button('LEFT', (60, 340), left_pressed, left_released, bg = GREY2, size=(95, 30))
button_right = Button('RIGHT', (260, 340), right_pressed, right_released, bg = GREY2, size=(95, 30))
button_forward_left = Button('FL', (60, 300), forward_left_pressed, forward_left_released, bg = GREY2, size=(95, 30))
button_forward_right = Button('FR', (260, 300), forward_right_pressed, forward_right_released, bg = GREY2, size=(95, 30))
button_backward_left = Button('BL', (60, 380), backward_left_pressed, backward_left_released, bg = GREY2, size=(95, 30))
button_backward_right = Button('BR', (260, 380), backward_right_pressed, backward_right_released, bg = GREY2, size=(95, 30))
button_cam_up = Button('UP', (380 + 160, 300), cam_up_pressed, cam_up_released, bg = GREY2, size=(95, 30))
button_cam_down = Button('DOWN', (380 + 160, 380), cam_down_pressed, cam_down_released, bg = GREY2, size=(95, 30))
button_cam_home = Button('HOME', (380 + 160, 340), cam_home_pressed, cam_home_released, bg = GREY2, size=(95, 30))
button_cam_left = Button('LEFT', (380 + 60, 340), cam_left_pressed, cam_left_released, bg = GREY2, size=(95, 30))
button_cam_right = Button('RIGHT', (380 + 260, 340), cam_right_pressed, cam_right_released, bg = GREY2, size=(95, 30))
# define our list of buttons:
buttons = [button_red, button_green, button_blue, button_buzzer, button_forward, button_backward, button_left, button_right]
buttons += [button_cam_up, button_cam_down, button_cam_left, button_cam_right, button_cam_home]
buttons += [button_forward_left, button_forward_right, button_backward_left, button_backward_right]
# the event loop:
while True:
if have_camera:
if cam.query_image():
img = cam.get_image()
screen.blit(img, (2, 2))
pygame.display.flip()
for event in pygame.event.get():
if event.type == pygame.QUIT:
if have_smbus:
# switch off dimmer processes:
dim_red.value = -1
p_red.join()
dim_green.value = -1
p_green.join()
dim_blue.value = -1
p_blue.join()
# switch off LED's:
write_reg(CMD_IO1, 1)
write_reg(CMD_IO2, 1)
write_reg(CMD_IO3, 1)
if have_camera:
cam.stop()
pygame.quit()
sys.exit()
elif event.type == pygame.MOUSEBUTTONDOWN:
mousebuttondown()
elif event.type == pygame.MOUSEBUTTONUP:
mousebuttonup()
# draw buttons:
for button in buttons:
button.draw()
# move slides:
for s in slides:
if s.hit:
s.move()
# draw slides:
for s in slides:
s.draw()
pygame.display.flip()
pygame.time.wait(40)
# pygame.time.wait(10)