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@ -488,19 +488,19 @@ class mywindow(QMainWindow,Ui_Client):
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def on_btn_Mode(self,Mode):
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if Mode.text() == "M-Free":
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if Mode.isChecked() == True:
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self.timer.start(34)
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#self.timer.start(34)
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self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'one'+self.endChar)
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if Mode.text() == "M-Light":
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if Mode.isChecked() == True:
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self.timer.stop()
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#self.timer.stop()
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self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'two'+self.endChar)
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if Mode.text() == "M-Sonic":
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if Mode.isChecked() == True:
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self.timer.stop()
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#self.timer.stop()
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self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'three'+self.endChar)
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if Mode.text() == "M-Line":
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if Mode.isChecked() == True:
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self.timer.stop()
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#self.timer.stop()
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self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'four'+self.endChar)
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@ -1,22 +1,23 @@
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import time
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from Motor import *
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import RPi.GPIO as GPIO
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IR01 = 14
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IR02 = 15
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IR03 = 23
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(IR01,GPIO.IN)
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GPIO.setup(IR02,GPIO.IN)
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GPIO.setup(IR03,GPIO.IN)
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class Line_Tracking:
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def __init__(self):
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self.IR01 = 14
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self.IR02 = 15
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self.IR03 = 23
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(self.IR01,GPIO.IN)
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GPIO.setup(self.IR02,GPIO.IN)
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GPIO.setup(self.IR03,GPIO.IN)
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def run(self):
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while True:
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self.LMR=0x00
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if GPIO.input(IR01)==True:
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if GPIO.input(self.IR01)==True:
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self.LMR=(self.LMR | 4)
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if GPIO.input(IR02)==True:
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if GPIO.input(self.IR02)==True:
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self.LMR=(self.LMR | 2)
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if GPIO.input(IR03)==True:
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if GPIO.input(self.IR03)==True:
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self.LMR=(self.LMR | 1)
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if self.LMR==2:
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PWM.setMotorModel(800,800,800,800)
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@ -29,7 +30,8 @@ class Line_Tracking:
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elif self.LMR==3:
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PWM.setMotorModel(4000,4000,-2000,-2000)
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elif self.LMR==7:
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pass
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#pass
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PWM.setMotorModel(0,0,0,0)
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infrared=Line_Tracking()
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# Main program logic follows:
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@ -37,5 +39,5 @@ if __name__ == '__main__':
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print ('Program is starting ... ')
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try:
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infrared.run()
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except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
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except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program will be executed.
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PWM.setMotorModel(0,0,0,0)
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@ -3,21 +3,22 @@ from Motor import *
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import RPi.GPIO as GPIO
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from servo import *
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from PCA9685 import PCA9685
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GPIO.setwarnings(False)
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trigger_pin = 27
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echo_pin = 22
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(trigger_pin,GPIO.OUT)
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GPIO.setup(echo_pin,GPIO.IN)
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class Ultrasonic:
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def __init__(self):
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GPIO.setwarnings(False)
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self.trigger_pin = 27
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self.echo_pin = 22
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(self.trigger_pin,GPIO.OUT)
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GPIO.setup(self.echo_pin,GPIO.IN)
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def send_trigger_pulse(self):
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GPIO.output(trigger_pin,True)
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GPIO.output(self.trigger_pin,True)
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time.sleep(0.00015)
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GPIO.output(trigger_pin,False)
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GPIO.output(self.trigger_pin,False)
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def wait_for_echo(self,value,timeout):
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count = timeout
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while GPIO.input(echo_pin) != value and count>0:
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while GPIO.input(self.echo_pin) != value and count>0:
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count = count-1
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def get_distance(self):
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