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cambot.py
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cambot.py
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# This version uses new-style automatic setup/destroy/mapping
# Need to change /etc/webiopi
# Imports
import webiopi
import os
import subprocess
import time
import glob
# Retrieve GPIO lib
GPIO = webiopi.GPIO
# -------------------------------------------------- #
# Constants definition #
# -------------------------------------------------- #
R2=9 # H-Bridge 1
R1=10 # H-Bridge 2
RS=11 # H-Bridge 1,2EN
# second motor GPIOs
L2=23 # H-Bridge 3
L1=24 # H-Bridge 4
LS=25 # H-Bridge 3,4EN
# -------------------------------------------------- #
# Convenient PWM Function #
# -------------------------------------------------- #
# Set the speed of two motors
def set_speed(speed):
GPIO.pulseRatio(LS, speed)
GPIO.pulseRatio(RS, speed)
# -------------------------------------------------- #
# Left Motor Functions #
# -------------------------------------------------- #
def forward():
GPIO.output(R1, GPIO.HIGH)
GPIO.output(R2, GPIO.LOW)
def backward():
GPIO.output(R2, GPIO.HIGH)
GPIO.output(R1, GPIO.LOW)
def left():
GPIO.output(L1, GPIO.LOW)
GPIO.output(L2, GPIO.HIGH)
def right():
GPIO.output(L2, GPIO.LOW)
GPIO.output(L1, GPIO.HIGH)
def st():
GPIO.output(L1, GPIO.LOW)
GPIO.output(L2, GPIO.LOW)
GPIO.output(R1, GPIO.LOW)
GPIO.output(R2, GPIO.LOW)
# -------------------------------------------------- #
# Macro definition part #
# -------------------------------------------------- #
@webiopi.macro
def go_forward():
forward()
@webiopi.macro
def go_backward():
backward()
@webiopi.macro
def turn_left():
left()
@webiopi.macro
def turn_right():
right()
@webiopi.macro
def stop():
st()
# Called by WebIOPi at script loading
def setup():
# Setup GPIOs
GPIO.setFunction(LS, GPIO.PWM)
GPIO.setFunction(L1, GPIO.OUT)
GPIO.setFunction(L2, GPIO.OUT)
GPIO.setFunction(RS, GPIO.PWM)
GPIO.setFunction(R1, GPIO.OUT)
GPIO.setFunction(R2, GPIO.OUT)
set_speed(0.5)
stop()
# Called by WebIOPi at server shutdown
def destroy():
# Reset GPIO functions
GPIO.setFunction(LS, GPIO.IN)
GPIO.setFunction(L1, GPIO.IN)
GPIO.setFunction(L2, GPIO.IN)
GPIO.setFunction(RS, GPIO.IN)
GPIO.setFunction(R1, GPIO.IN)
GPIO.setFunction(R2, GPIO.IN)
@webiopi.macro
def get_done():
print("spotter start")
newest = max(glob.iglob('*.[j][p][g]'), key=os.path.getctime)
cmd = "sudo ./deepbelief {} > try6.txt & ".format(newest)
proc = subprocess.Popen(cmd, shell=True)
cmd2 = "cp {} raju2.png".format(newest)
proc2 = subprocess.Popen(cmd2, shell=True)
webiopi.sleep(10)
print("spotter stop")
# for line in fileinput.input(["try6.txt"], inplace=True, backup='.bak'):
# if line !='/n':
# pre,post=line.split()
# post2=pre
# pre2=post
# sys.stdout.write(pre2+' '+str(float(post2)*100)+' %\n')
#else:
# sys.stdout.write(line)
@webiopi.macro
def get_text():
global a
with open ("try6.txt", "r") as myfile:
a=myfile.read()
print (a)
return (a)