Changes for CamJam Edukit 3 with LED's, button code and line follower. Removed camera references and all audio stuff

Author: martinevans

.gitignore

@@ -58,3 +58,13 @@ static/blockly-tutorial
 .Trashes
 ehthumbs.db
 Thumbs.db
+
+static/.DS_Store
+
+static/.DS_Store
+
+static/js/.DS_Store
+
+static/css/.DS_Store
+
+static/.DS_Store

awesomeinput.py

@@ -0,0 +1,35 @@
+import time
+import pigpio
+import logging
+
+class Awesomeinput:
+   """
+   ound trip time.
+   """
+
+   def __init__(self, pi, linesensorpin):
+      """
+      The class is instantiated with the Pi to use and the
+      gpios connected to the trigger and echo pins.
+      """
+      self.pi = pi
+      self._linesensorpin = linesensorpin
+      pi.set_mode(self._linesensorpin, pigpio.INPUT)
+      self._inited = True
+
+   def buttonInput(self, awesome_button):
+       self.pi.set_mode(awesome_button, pigpio.INPUT)
+       self.pi.set_pull_up_down(awesome_button, pigpio.PUD_UP)
+       print "Button pin:" + str(awesome_button)
+       print "Button reads: " + str(self.pi.read(awesome_button))
+       if self.pi.read(awesome_button) == 1:
+           return False
+       else:
+           return True
+
+   def lineSensor(self):
+       if self._inited:
+           if self.pi.read(self._linesensorpin) == 1:
+               return False
+           else:
+               return True

awesomeoutput.py

@@ -0,0 +1,20 @@
+import time
+import pigpio
+import logging
+
+class Awesomeoutput:
+   """
+   ound trip time.
+   """
+
+   def __init__(self, pi):
+      """
+      The class is instantiated with the Pi to use and the
+      gpios connected to the trigger and echo pins.
+      """
+      self.pi = pi
+
+
+   def ledOutput(self, awesome_led, LED_State):
+       self.pi.set_mode(awesome_led, pigpio.OUTPUT)
+       self.pi.write(awesome_led, LED_State)

coderbot.py

@@ -23,6 +23,9 @@
 import config
 import logging
 import sonar
+import awesomeoutput
+import awesomeinput
+
 
 PIN_MOTOR_ENABLE = 22
 PIN_LEFT_FORWARD = 8
@@ -34,27 +37,26 @@
 #PIN_SERVO_4 = 10
 PIN_SONAR_1_TRIGGER = 17
 PIN_SONAR_1_ECHO = 18
-#PIN_SONAR_2_TRIGGER = 18
-#PIN_SONAR_2_ECHO = 8
-#PIN_SONAR_3_TRIGGER = 18
-#PIN_SONAR_3_ECHO = 23
-#PIN_ENCODER_LEFT = 14
-#PIN_ENCODER_RIGHT = 15
 
 PWM_FREQUENCY = 100 #Hz
 PWM_RANGE = 100 #0-100
 
+PIN_LINE_SENSOR = 25
+
+#OUTPUT_LED = 1
+#PIN_LED = 24
+
 def coderbot_callback(gpio, level, tick):
   return CoderBot.get_instance().callback(gpio, level, tick)
 
 class CoderBot:
-  _pin_out = [PIN_MOTOR_ENABLE, PIN_LEFT_FORWARD, PIN_RIGHT_FORWARD, PIN_LEFT_BACKWARD, PIN_RIGHT_BACKWARD, PIN_SERVO_3, PIN_SERVO_4]
+  _pin_out = [PIN_MOTOR_ENABLE, PIN_LEFT_FORWARD, PIN_RIGHT_FORWARD, PIN_LEFT_BACKWARD, PIN_RIGHT_BACKWARD]
 
   def __init__(self, servo=False, motor_trim_factor=1.0):
     self.pi = pigpio.pi('localhost')
     self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
-    self.pi.set_mode(PIN_ENCODER_LEFT, pigpio.INPUT)
-    self.pi.set_mode(PIN_ENCODER_RIGHT, pigpio.INPUT)
+#    self.pi.set_mode(PIN_ENCODER_LEFT, pigpio.INPUT)
+#    self.pi.set_mode(PIN_ENCODER_RIGHT, pigpio.INPUT)
     self._cb = dict()
     self._cb_last_tick = dict()
     self._cb_elapse = dict()
@@ -65,17 +67,15 @@ def __init__(self, servo=False, motor_trim_factor=1.0):
     else:
       self.motor_control = self._dc_motor
     self._cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE, coderbot_callback)
-    self._cb2 = self.pi.callback(PIN_ENCODER_LEFT, pigpio.RISING_EDGE, coderbot_callback)
-    self._cb3 = self.pi.callback(PIN_ENCODER_RIGHT, pigpio.RISING_EDGE, coderbot_callback)
     for pin in self._pin_out:
       self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
       self.pi.set_PWM_range(pin, PWM_RANGE)
 
     self.stop()
     self._is_moving = False
-    self.sonar = [sonar.Sonar(self.pi, PIN_SONAR_1_TRIGGER, PIN_SONAR_1_ECHO),
-                  sonar.Sonar(self.pi, PIN_SONAR_2_TRIGGER, PIN_SONAR_2_ECHO),
-                  sonar.Sonar(self.pi, PIN_SONAR_3_TRIGGER, PIN_SONAR_3_ECHO)]
+    self.sonar = [sonar.Sonar(self.pi, PIN_SONAR_1_TRIGGER, PIN_SONAR_1_ECHO)]
+    self.awesomeoutput = awesomeoutput.Awesomeoutput(self.pi)
+    self.awesomeinput = awesomeinput.Awesomeinput(self.pi, PIN_LINE_SENSOR)
     self._encoder_cur_left = 0
     self._encoder_cur_right = 0
     self._encoder_target_left = -1
@@ -84,8 +84,8 @@ def __init__(self, servo=False, motor_trim_factor=1.0):
 
   def exit(self):
     self._cb1.cancel()
-    self._cb2.cancel()
-    self._cb3.cancel()
+#    self._cb2.cancel()
+#    self._cb3.cancel()
     for s in self.sonar:
       s.cancel()
 
@@ -122,6 +122,15 @@ def servo4(self, angle):
   def get_sonar_distance(self, sonar_id=0):
     return self.sonar[sonar_id].get_distance()
 
+  def ledOutput(self, pin_led, output_led):
+    self.awesomeoutput.ledOutput(pin_led, output_led)
+
+  def buttonInput(self, pin_button):
+    return self.awesomeinput.buttonInput(pin_button)
+
+  def lineSensor(self):
+    return self.awesomeinput.lineSensor()
+
   def _dc_motor(self, speed_left=100, speed_right=100, elapse=-1, steps_left=-1, steps_right=-1 ):
     self._encoder_cur_left = 0
     self._encoder_cur_right = 0

data/program_face_find.data

@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"38\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\"><field name=\"SONAR\"></field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  if get_bot().get_sonar_distance() < 10:\n    get_bot().right(speed=100, elapse=0.5)\n  else:\n    get_bot().forward(speed=100, elapse=-1)\nget_bot().stop()\n", "name": "obstacle_avoidance"}
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"38\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\"><field name=\"SONAR\"></field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  if get_bot().get_sonar_distance() < 10:\n    get_bot().right(speed=100, elapse=0.5)\n  else:\n    get_bot().forward(speed=100, elapse=-1)\nget_bot().stop()\n", "name": "obstacle_avoidance"}

data/program_find_code_test.data

@@ -0,0 +1,29 @@
+import time
+import pigpio
+import logging
+
+#
+# Infrared Sensor from CamJam Edukit3
+#
+# Pin 1 - 5V
+# Pin 2 - Ground
+# Pin 3 - gpio (here P1-8, gpio 14, TXD is used)
+#
+# The internal gpio pull-up is enabled so that the sensor
+# normally reads high.  It reads low when a magnet is close.
+#
+
+INFRARED=14
+
+pi = pigpio.pi() # connect to local Pi
+
+pi.set_mode(HALL, pigpio.INPUT)
+pi.set_pull_up_down(HALL, pigpio.PUD_UP)
+
+start = time.time()
+
+while (time.time() - start) < 60:
+   print("Hall = {}".format(pi.read(HALL)))
+   time.sleep(0.2)
+
+pi.stop()