-
Notifications
You must be signed in to change notification settings - Fork 0
/
pcduino-flask.py
309 lines (223 loc) · 6.15 KB
/
pcduino-flask.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
#!/usr/bin/env python
#
# Wifi/Web driven Rover
#
# Written by Ryzer - 2021/2022 (v1.0)
#
# Uses Adafruit Blinka, pyserial and Flask
#
# A Pcduino running an Armbian based image.
# Ensure that the overlays for both I2C2
# AND PWM overlay are enabled prior to using.
# The Pcduino has 2 hardware capble PWM which
# can be selected below
import time
import sys
import serial
import board #Import the board profile from Blinka libraries
import digitalio
from adafruit_servokit import ServoKit #I2C servo shield libraries
from pcduino import pwmSet
from flask import Flask, render_template, request
app = Flask (__name__, static_url_path = '')
try:
# Change the baud rate here if diffrent than 19200
gps_nav = serial.Serial ('/dev/ttyS2', 9600)
except IOError:
print ("UART not enabled - not able to use GPS")
#Motor 1 configuration - connect matching jumper on dir A header
dir_1 = digitalio.DigitalInOut(board.D2)
#dir_1 = digitalio.DigitalInOut(board.D4)
#dir_1 = digitalio.DigitalInOut(board.D7)
dir_1.direction = digitalio.Direction.OUTPUT
Throttle_1 = "pwm0" #Pin 5 Pcduino
#Motor 2 configuration - connect matching jumper on dir B header
#dir_2 = digitalio.DigitalInOut(board.D8)
#dir_2 = digitalio.DigitalInOut(board.D12)
#dir_2 = digitalio.DigitalInOut(board.D13)
#dir_2.direction = digitalio.Direction.OUTPUT
#Throttle_2 = "pwm1" #Pin 6 Pcduino
# Speed and drive control variables - remember to set pwm and directional control variables
pwmSet.pulseDuration(Throttle_1, 400)
pwmSet.pulseDuty(Throttle_1, 0) #start at a stationary position
pwmSet.polarity(Throttle_1, 0)
pwmSet.enable(Throttle_1, 1)
speed_offset = 84
run_time = 0.750
#Variables for the main driving servo (Servo shield channel 0)
right_dri = 60
left_dri = 0
centre_dri = 30
#Variables for the camera moving servo (Servo shield channel 1)
right_pan = 45
left_pan = 135
centre_pan = 90
pan_servo = centre_pan
dri_servo = centre_dri
kit = ServoKit(channels=16)
kit.servo[0].angle = centre_dri #Steering servo
kit.servo[1].angle = centre_pan #Camera pan servo
turn_offset = 0.166
time.sleep (3) # A little dwell for settling down time
@app.route ("/")
def index():
return render_template ('index.html', name = None)
#Directional controls
@app.route("/forward")
def forward():
global run_time
print("Forward")
dir_1.value = True
go_forward()
time.sleep(0.100 + run_time) # sleep 100ms + run_time
if run_time > 0: # If not continuous, then halt after delay
halt()
return "ok"
@app.route ("/backward")
def backward():
global run_time
print("Backward")
dir_1.value = False
go_backward()
time.sleep(0.100 + run_time) # sleep 100ms + run_time
if run_time > 0: # If not continuous, then halt after delay
halt()
return "ok"
@app.route("/left")
def left():
global turn_offset
print("Left")
sw_left()
time.sleep(0.500 - turn_offset) # sleep @1/2 second
halt() # stop
time.sleep(0.100)
return "ok"
@app.route ("/right")
def right():
global turn_offset
print("Right")
sw_right()
time.sleep (0.500 - turn_offset) # sleep @1/2 second - need to adjust for servp
halt() # stop
time.sleep(0.100)
return "ok"
@app.route("/stop")
def stop():
global last_direction
print("Stop")
halt()
time.sleep(0.100) # sleep 100ms
return "ok"
# Camera operating controls
@app.route("/panlt") #Cam Servo control functions
def panlf ( ):
global pan_servo
print ("Panlt")
if pan_servo < 135:
pan_servo += 5
kit.servo[0].angle = pan_servo
time.sleep (0.150) # sleep 150ms
return "ok"
@app.route("/panrt")
def panrt():
global pan_servo
print("Panrt")
if pan_servo < right_pan:
pan_servo -= 5
kit.servo[0].angle = pan_servo
time.sleep (0.150) # sleep 150ms
return "ok"
@app.route("/home")
def home():
global pan_servo
print("Home")
kit.servo[1].angle = 90
time.sleep(0.150) # sleep 150ms
return "ok"
@app.route("/panfull_lt")
def panfull_lt():
global pan_servo
print("Pan full left")
kit.servo[1].angle = 135
time.sleep(0.150) # sleep 150ms
return "ok"
@app.route("/panfull_rt")
def panfull_rt():
global pan_servo
print("Pan full right")
kit.servo[1].angle = 45
time.sleep(0.150) # sleep 150ms
return "ok"
# Throttle control (preset speed profiles)
@app.route("/speed_low")
def speed_low():
global speed, turn_offset
speed = 42 #Calibrate according to motor used
turn_offset = 0.001
time.sleep (0.150) # sleep 150ms
return "ok"
@app.route("/speed_mid") #speed control presets
def speed_mid():
global speed, turn_offset
speed = 84
turn_tm_offset = 0.166
time.sleep (0.150) # sleep 150ms
return "ok"
@app.route("/speed_hi")
def speed_hi():
global speed, last_direction, turn_offset
speed = 126
turn_offset = 0.332
time.sleep (0.150) # sleep 150ms
return "ok"
# Run time - Configure how long the rover will move for
@app.route("/continuous") #running duration
def continuous():
global run_time
print("Continuous run")
run_time = 0
time.sleep(0.100) # sleep 100ms
return "ok"
@app.route("/mid_run")
def mid_run():
global run_time
print("Mid run")
run_time = 0.750
halt()
time.sleep(0.100) # sleep 100ms
return "ok"
@app.route("/short_time")
def short_time():
global run_time
print("Short run")
run_time = 0.300
halt()
time.sleep(0.100) # sleep 100ms
return "ok"
def go_forward(): # Motor drive functions
global speed
dir_1.value = True
pwmSet.pulseDuty(Throttle_1, speed)
def go_backward():
global speed
dir_1.value = False
pwmSet.pulseDuty(Throttle_1, speed)
def sw_left(): # Servo steering functions
global dri_servo
if dri_servo > left_dri:
dri_servo -= 5
else:
print("Left limit reached")
kit.servo[0].angle = dri_servo
def sw_right():
global dri_servo
if dri_servo < right_dri:
dri_servo += 5
else:
print("Right limit reached")
kit.servo[0].angle = dri_servo
def halt():
pwmSet.pulseDuty(Throttle_1, 0)
kit.servo[0].angle = 90
if __name__ == "__main__" :
app.run (host = '0.0.0.0', port = 80, debug = True)