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This commit is contained in:
a838557765 2020-07-08 08:24:44 +08:00
parent 4dd324f101
commit f646870b12
3 changed files with 28 additions and 25 deletions
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8
Code/Client/Main.py
View File

@ -488,19 +488,19 @@ class mywindow(QMainWindow,Ui_Client):
def on_btn_Mode(self,Mode):
if Mode.text() == "M-Free":
if Mode.isChecked() == True:
self.timer.start(34)
#self.timer.start(34)
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'one'+self.endChar)
if Mode.text() == "M-Light":
if Mode.isChecked() == True:
self.timer.stop()
#self.timer.stop()
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'two'+self.endChar)
if Mode.text() == "M-Sonic":
if Mode.isChecked() == True:
self.timer.stop()
#self.timer.stop()
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'three'+self.endChar)
if Mode.text() == "M-Line":
if Mode.isChecked() == True:
self.timer.stop()
#self.timer.stop()
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'four'+self.endChar)

26
Code/Server/Line_Tracking.py
View File

@ -1,22 +1,23 @@
import time
from Motor import *
import RPi.GPIO as GPIO
IR01 = 14
IR02 = 15
IR03 = 23
GPIO.setmode(GPIO.BCM)
GPIO.setup(IR01,GPIO.IN)
GPIO.setup(IR02,GPIO.IN)
GPIO.setup(IR03,GPIO.IN)
class Line_Tracking:
def __init__(self):
self.IR01 = 14
self.IR02 = 15
self.IR03 = 23
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.IR01,GPIO.IN)
GPIO.setup(self.IR02,GPIO.IN)
GPIO.setup(self.IR03,GPIO.IN)
def run(self):
while True:
self.LMR=0x00
if GPIO.input(IR01)==True:
if GPIO.input(self.IR01)==True:
self.LMR=(self.LMR | 4)
if GPIO.input(IR02)==True:
if GPIO.input(self.IR02)==True:
self.LMR=(self.LMR | 2)
if GPIO.input(IR03)==True:
if GPIO.input(self.IR03)==True:
self.LMR=(self.LMR | 1)
if self.LMR==2:
PWM.setMotorModel(800,800,800,800)
@ -29,7 +30,8 @@ class Line_Tracking:
elif self.LMR==3:
PWM.setMotorModel(4000,4000,-2000,-2000)
elif self.LMR==7:
pass
#pass
PWM.setMotorModel(0,0,0,0)
infrared=Line_Tracking()
# Main program logic follows:
@ -37,5 +39,5 @@ if __name__ == '__main__':
print ('Program is starting ... ')
try:
infrared.run()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program will be executed.
PWM.setMotorModel(0,0,0,0)

19
Code/Server/Ultrasonic.py
View File

@ -3,21 +3,22 @@ from Motor import *
import RPi.GPIO as GPIO
from servo import *
from PCA9685 import PCA9685
GPIO.setwarnings(False)
trigger_pin = 27
echo_pin = 22
GPIO.setmode(GPIO.BCM)
GPIO.setup(trigger_pin,GPIO.OUT)
GPIO.setup(echo_pin,GPIO.IN)
class Ultrasonic:
def __init__(self):
GPIO.setwarnings(False)
self.trigger_pin = 27
self.echo_pin = 22
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.trigger_pin,GPIO.OUT)
GPIO.setup(self.echo_pin,GPIO.IN)
def send_trigger_pulse(self):
GPIO.output(trigger_pin,True)
GPIO.output(self.trigger_pin,True)
time.sleep(0.00015)
GPIO.output(trigger_pin,False)
GPIO.output(self.trigger_pin,False)
def wait_for_echo(self,value,timeout):
count = timeout
while GPIO.input(echo_pin) != value and count>0:
while GPIO.input(self.echo_pin) != value and count>0:
count = count-1
def get_distance(self):