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robot_manual_control.py
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robot_manual_control.py
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import RPi.GPIO as GPIO
import curses
from motor_controller.motor_controller import MotorController
from robot_functions.camera_movement_controller import CameraMovementController
from robot_functions.buzzer_controller import BuzzerController
from robot_functions.headlights_controller import HeadlightsController
from robot_functions.laser_controller import LaserController
from robot_functions.camera_software_controller import CameraSoftwareController
if __name__ == '__main__':
try:
screen = curses.initscr()
curses.noecho()
curses.cbreak()
screen.keypad(True)
motor_controller = MotorController()
camera_movement_controller = CameraMovementController()
buzzer_controller = BuzzerController()
headlights_controller = HeadlightsController()
laser_controller = LaserController()
camera_software_controller = CameraSoftwareController()
camera_software_controller.start_camera()
while True:
char = screen.getch()
if char == ord('q'):
motor_controller.stop()
break
elif char == ord('w'):
motor_controller.move_forward()
elif char == ord('s'):
motor_controller.move_backward()
elif char == ord('a'):
motor_controller.move_left()
elif char == ord('d'):
motor_controller.move_right()
elif char == ord('e'):
motor_controller.stop()
elif char == ord('z'):
motor_controller.move_hard_left()
elif char == ord('c'):
motor_controller.move_hard_right()
elif char == ord('1'):
motor_controller.set_motor_speed(20)
elif char == ord('2'):
motor_controller.set_motor_speed(40)
elif char == ord('3'):
motor_controller.set_motor_speed(60)
elif char == ord('4'):
motor_controller.set_motor_speed(80)
elif char == ord('5'):
motor_controller.set_motor_speed(100)
elif char == ord(','):
motor_controller.increase_motor_speed(5)
elif char == ord('.'):
motor_controller.decrease_motor_speed(5)
elif char == ord('h'):
buzzer_controller.turn_on()
elif char == ord('j'):
buzzer_controller.turn_off()
elif char == ord('l'):
headlights_controller.turn_on()
elif char == ord(';'):
headlights_controller.turn_off()
elif char == ord('0'):
camera_movement_controller.center_camera()
elif char == curses.KEY_UP:
camera_movement_controller.move_camera_up()
elif char == curses.KEY_DOWN:
camera_movement_controller.move_camera_down()
elif char == curses.KEY_RIGHT:
camera_movement_controller.move_camera_right()
elif char == curses.KEY_LEFT:
camera_movement_controller.move_camera_left()
elif char == ord('+'):
camera_movement_controller.set_camera_move_speed(0.05)
camera_software_controller.zoom_in()
elif char == ord('-'):
camera_movement_controller.set_camera_move_speed(0.1)
camera_software_controller.zoom_out()
elif char == ord('i'):
laser_controller.turn_on()
elif char == ord('o'):
laser_controller.turn_off()
elif char == ord('t'):
camera_software_controller.take_picture()
except Exception as err:
print(err)
finally:
curses.nocbreak(); screen.keypad(0); curses.echo()
curses.endwin()
GPIO.cleanup()