Merge remote-tracking branch 'origin/master'

.gitignore

@@ -0,0 +1,254 @@
+
+# Created by https://www.toptal.com/developers/gitignore/api/python,pycharm,code
+# Edit at https://www.toptal.com/developers/gitignore?templates=python,pycharm,code
+
+### Code ###
+.vscode/*
+!.vscode/tasks.json
+!.vscode/launch.json
+*.code-workspace
+
+### PyCharm ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
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+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
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+
+# Gradle
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+
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+# since they will be recreated, and may cause churn.  Uncomment if using
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+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
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+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
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+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### PyCharm Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
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+# modules.xml
+# .idea/misc.xml
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+# See https://youtrack.jetbrains.com/issue/JBR-2257
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+.idea/codestream.xml
+
+### Python ###
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+
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+
+# Distribution / packaging
+.Python
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+.installed.cfg
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+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
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+
+# Installer logs
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+
+# Unit test / coverage reports
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+# Environments
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+.pytype/
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+# profiling data
+.prof
+
+# End of https://www.toptal.com/developers/gitignore/api/python,pycharm,code

compLIB/ADC.py

@@ -1,94 +1,35 @@
 import smbus
-import time
+
+SINGLE_ENDED = 0x84
+ADDRESS = 0x48
+
+bus = smbus.SMBus(1)
 
 
-class Adc:
+class ADC:
-    def __init__(self):
-        # Get I2C bus
-        self.bus = smbus.SMBus(1)
 
-        # I2C address of the device
+    @staticmethod
-        self.ADDRESS = 0x48
+    def read(channel) -> float:
+        """
+        Read from adc channel
+        0 -> Left IR Sensor
+        1 -> Right IR Sensor
+        2 -> Battery voltage / 3
+        :param channel: Channel between 0 and 2
+        :return: voltage
+        """
 
-        # PCF8591 Command
-        self.PCF8591_CMD = 0x40  # Command
-
-        # ADS7830 Command
-        self.ADS7830_CMD = 0x84  # Single-Ended Inputs
-
-        for i in range(3):
-            aa = self.bus.read_byte_data(self.ADDRESS, 0xf4)
-            if aa < 150:
-                self.Index = "PCF8591"
-            else:
-                self.Index = "ADS7830"
-
-    def analogReadPCF8591(self, chn):  # PCF8591 read ADC value,chn:0,1,2,3
-        value = [0, 0, 0, 0, 0, 0, 0, 0, 0]
-        for i in range(9):
-            value[i] = self.bus.read_byte_data(self.ADDRESS, self.PCF8591_CMD + chn)
-        value = sorted(value)
-        return value[4]
-
-    # TODO: bug in original code???
-    #def analogWritePCF8591(self, value):  # PCF8591 write DAC value
-    #    self.bus.write_byte_data(self.ADDRESS, cmd, value)
-
-    def recvPCF8591(self, channel):  # PCF8591 write DAC value
-        while (1):
-            value1 = self.analogReadPCF8591(channel)  # read the ADC value of channel 0,1,2,
-            value2 = self.analogReadPCF8591(channel)
-            if value1 == value2:
-                break;
-        voltage = value1 / 256.0 * 3.3  # calculate the voltage value
-        voltage = round(voltage, 2)
-        return voltage
-
-    def recvADS7830(self, channel):
         """Select the Command data from the given provided value above"""
-        COMMAND_SET = self.ADS7830_CMD | ((((channel << 2) | (channel >> 1)) & 0x07) << 4)
+        command = SINGLE_ENDED | ((((channel << 2) | (channel >> 1)) & 0x07) << 4)
-        self.bus.write_byte(self.ADDRESS, COMMAND_SET)
+        bus.write_byte(ADDRESS, command)
-        while (1):
+
-            value1 = self.bus.read_byte(self.ADDRESS)
+        while "Koka is great":
-            value2 = self.bus.read_byte(self.ADDRESS)
+            value1 = bus.read_byte(ADDRESS)
+            value2 = bus.read_byte(ADDRESS)
             if value1 == value2:
-                break;
+                break
+
         voltage = value1 / 255.0 * 3.3  # calculate the voltage value
         voltage = round(voltage, 2)
+
         return voltage
-
-    def recvADC(self, channel):
-        if self.Index == "PCF8591":
-            data = self.recvPCF8591(channel)
-        elif self.Index == "ADS7830":
-            data = self.recvADS7830(channel)
-        return data
-
-    def i2cClose(self):
-        self.bus.close()
-
-
-def loop():
-    adc = Adc()
-    while True:
-        Left_IDR = adc.recvADC(0)
-        print(Left_IDR)
-        Right_IDR = adc.recvADC(1)
-        print(Right_IDR)
-        Power = adc.recvADC(2) * 3
-        print(Power)
-        time.sleep(1)
-        print('----')
-
-
-def destroy():
-    pass
-
-
-# Main program logic follows:
-if __name__ == '__main__':
-    print('Program is starting ... ')
-    try:
-        loop()
-    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
-        destroy()

compLIB/Battery.py

@@ -0,0 +1,22 @@
+from compLIB.ADC import ADC
+
+
+BATTERY_CHANNEL = 2
+BATTERY_COUNT = 2
+BATTERY_MULTIPLIER = 3
+BATTERY_MIN_VOLTAGE = 3.6
+BATTERY_MAX_VOLTAGE = 4.1
+
+adc = ADC()
+
+
+class Battery(object):
+
+    @staticmethod
+    def percent() -> int:
+        """
+        Get battery percentage between 0 and 100
+        :return:
+        """
+        voltage = adc.read(BATTERY_CHANNEL) * BATTERY_MULTIPLIER
+        return int((voltage - BATTERY_MIN_VOLTAGE) / BATTERY_MAX_VOLTAGE * 100)

compLIB/Buzzer.py

@@ -1,6 +1,5 @@
-import time
 import RPi.GPIO as GPIO
-from Command import COMMAND as cmd
+import atexit
 
 GPIO.setwarnings(False)
 Buzzer_Pin = 17
@@ -9,15 +8,17 @@ GPIO.setup(Buzzer_Pin, GPIO.OUT)
 
 
 class Buzzer:
-    def run(self, command):
-        if command != "0":
-            GPIO.output(Buzzer_Pin, True)
-        else:
-            GPIO.output(Buzzer_Pin, False)
 
+    @staticmethod
+    def set(on: bool):
+        """
+        Turn the buzzer on / off
+        :param on: True if on, False if off
+        :return: None
+        """
+        GPIO.output(Buzzer_Pin, on)
 
-if __name__ == '__main__':
+def exit():
-    B = Buzzer()
+    Buzzer.set(0)
-    B.run('1')
+
-    time.sleep(3)
+atexit.register(exit)
-    B.run('0')

compLIB/Command.py

@@ -1,13 +0,0 @@
-class COMMAND:
-    CMD_MOTOR = "CMD_MOTOR"
-    CMD_LED = "CMD_LED"
-    CMD_LED_MOD = "CMD_LED_MOD"
-    CMD_SERVO = "CMD_SERVO"
-    CMD_BUZZER = "CMD_BUZZER"
-    CMD_SONIC = "CMD_SONIC"
-    CMD_LIGHT = "CMD_LIGHT"
-    CMD_POWER = "CMD_POWER"
-    CMD_MODE = "CMD_MODE"
-
-    def __init__(self):
-        pass

compLIB/IRSensor.py

@@ -0,0 +1,65 @@
+from compLIB.ADC import ADC
+import RPi.GPIO as GPIO
+
+TOP_LEFT_CHANNEL = 0
+TOP_RIGHT_CHANNEL = 1
+
+TOP_IR_MIN_VOLTAGE = 0.0
+TOP_IR_MAX_VOLTAGE = 3.3
+
+BOTTOM_LEFT_PIN = 14
+BOTTOM_MIDDLE_PIN = 15
+BOTTOM_RIGHT_PIN = 23
+
+adc = ADC()
+
+GPIO.setmode(GPIO.BCM)
+
+GPIO.setup(BOTTOM_LEFT_PIN, GPIO.IN)
+GPIO.setup(BOTTOM_MIDDLE_PIN, GPIO.IN)
+GPIO.setup(BOTTOM_RIGHT_PIN, GPIO.IN)
+
+
+class IRSensor(object):
+
+    @staticmethod
+    def top_left_percent() -> int:
+        """
+        Get left infrared sensor percentage between 0 and 100
+        :return:
+        """
+        voltage = adc.read(TOP_LEFT_CHANNEL)
+        return int((voltage - TOP_IR_MIN_VOLTAGE) / TOP_IR_MAX_VOLTAGE * 100)
+
+    @staticmethod
+    def top_right_percent() -> int:
+        """
+        Get right infrared sensor percentage between 0 and 100
+        :return:
+        """
+        voltage = adc.read(TOP_RIGHT_CHANNEL)
+        return int((voltage - TOP_IR_MIN_VOLTAGE) / TOP_IR_MAX_VOLTAGE * 100)
+
+    @staticmethod
+    def bottom_left() -> bool:
+        """
+        Get status of bottom infrared sensor
+        :return: bool
+        """
+        return GPIO.input(BOTTOM_LEFT_PIN)
+
+    @staticmethod
+    def bottom_middle() -> bool:
+        """
+        Get status of bottom infrared sensor
+        :return: bool
+        """
+        return GPIO.input(BOTTOM_MIDDLE_PIN)
+
+    @staticmethod
+    def bottom_right() -> bool:
+        """
+        Get status of bottom infrared sensor
+        :return: bool
+        """
+        return GPIO.input(BOTTOM_RIGHT_PIN)

compLIB/Motor.py

@@ -1,107 +1,51 @@
-import time
+import atexit
-from PCA9685 import PCA9685
+
+from compLIB.PCA9685 import PCA9685
+
+pwm = PCA9685(0x40, debug=True)
+pwm.setPWMFreq(50)
+
+MOTOR_COUNT = 4
+MAX_MOTOR_SPEED = 4095.0
+MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0
 
 
-class Motor:
+class Motor(object):
-    def __init__(self):
-        self.pwm = PCA9685(0x40, debug=True)
-        self.pwm.setPWMFreq(50)
 
-    def duty_range(self, duty1, duty2, duty3, duty4):
+    @staticmethod
-        if duty1 > 4095:
+    def power(port: int, percent: int):
-            duty1 = 4095
+        """
-        elif duty1 < -4095:
+        Set specified motor to percentage power
-            duty1 = -4095
+        :param port: Port, which the motor is connected to. 0-3, 0 -> top left, 3 -> top right
+        :param percent: Percentage of max speed. between -100 and 100
+        :return: None
+        """
+        forward = True
+        if percent < 0:
+            percent = abs(percent)
+            forward = False
 
-        if duty2 > 4095:
+        # bottom left motor is inverted - REEEEEEEEEEEE
-            duty2 = 4095
+        if port == 1:
-        elif duty2 < -4095:
+            forward = not forward
-            duty2 = -4095
 
-        if duty3 > 4095:
+        adjusted_speed = int(min(max(0, percent), 100) * MOTOR_PERCENTAGE_MULT)
-            duty3 = 4095
-        elif duty3 < -4095:
-            duty3 = -4095
 
-        if duty4 > 4095:
+        if forward:
-            duty4 = 4095
+            pwm.setMotorPwm(port * 2, 0)
-        elif duty4 < -4095:
+            pwm.setMotorPwm(port * 2 + 1, adjusted_speed)
-            duty4 = -4095
-        return duty1, duty2, duty3, duty4
-
-    def left_Upper_Wheel(self, duty):
-        if duty > 0:
-            self.pwm.setMotorPwm(0, 0)
-            self.pwm.setMotorPwm(1, duty)
-        elif duty < 0:
-            self.pwm.setMotorPwm(1, 0)
-            self.pwm.setMotorPwm(0, abs(duty))
         else:
-            self.pwm.setMotorPwm(0, 4095)
+            pwm.setMotorPwm(port * 2, adjusted_speed)
-            self.pwm.setMotorPwm(1, 4095)
+            pwm.setMotorPwm(port * 2 + 1, 0)
 
-    def left_Lower_Wheel(self, duty):
+    @staticmethod
-        if duty > 0:
+    def all_off():
-            self.pwm.setMotorPwm(3, 0)
+        """
-            self.pwm.setMotorPwm(2, duty)
+        Turns of all motors
-        elif duty < 0:
+        :return:
-            self.pwm.setMotorPwm(2, 0)
+        """
-            self.pwm.setMotorPwm(3, abs(duty))
+        for i in range(0, MOTOR_COUNT):
-        else:
+            Motor.power(i, 0)
-            self.pwm.setMotorPwm(2, 4095)
-            self.pwm.setMotorPwm(3, 4095)
-
-    def right_Upper_Wheel(self, duty):
-        if duty > 0:
-            self.pwm.setMotorPwm(6, 0)
-            self.pwm.setMotorPwm(7, duty)
-        elif duty < 0:
-            self.pwm.setMotorPwm(7, 0)
-            self.pwm.setMotorPwm(6, abs(duty))
-        else:
-            self.pwm.setMotorPwm(6, 4095)
-            self.pwm.setMotorPwm(7, 4095)
-
-    def right_Lower_Wheel(self, duty):
-        if duty > 0:
-            self.pwm.setMotorPwm(4, 0)
-            self.pwm.setMotorPwm(5, duty)
-        elif duty < 0:
-            self.pwm.setMotorPwm(5, 0)
-            self.pwm.setMotorPwm(4, abs(duty))
-        else:
-            self.pwm.setMotorPwm(4, 4095)
-            self.pwm.setMotorPwm(5, 4095)
-
-    def setMotorModel(self, duty1, duty2, duty3, duty4):
-        duty1, duty2, duty3, duty4 = self.duty_range(duty1, duty2, duty3, duty4)
-        self.left_Upper_Wheel(duty1)
-        self.left_Lower_Wheel(duty2)
-        self.right_Upper_Wheel(duty3)
-        self.right_Lower_Wheel(duty4)
 
 
-PWM = Motor()
+atexit.register(Motor.all_off())
-
-
-def loop():
-    PWM.setMotorModel(2000, 2000, 2000, 2000)  # Forward
-    time.sleep(3)
-    PWM.setMotorModel(-2000, -2000, -2000, -2000)  # Back
-    time.sleep(3)
-    PWM.setMotorModel(-500, -500, 2000, 2000)  # Left
-    time.sleep(3)
-    PWM.setMotorModel(2000, 2000, -500, -500)  # Right
-    time.sleep(3)
-    PWM.setMotorModel(0, 0, 0, 0)  # Stop
-
-
-def destroy():
-    PWM.setMotorModel(0, 0, 0, 0)
-
-
-if __name__ == '__main__':
-    try:
-        loop()
-    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
-        destroy()

compLIB/Servo.py

@@ -0,0 +1,28 @@
+from compLIB.PCA9685 import PCA9685
+
+pwm = PCA9685(0x40, debug=True)
+pwm.setPWMFreq(50)
+
+
+class Servo:
+
+    @staticmethod
+    def set_position(channel: int, angle: int):
+        """
+        Set position of servo connected to port
+        :param channel: channel between 0 and 7
+        :param angle: Angle of servo
+        :return: None
+
+        """
+        angle = abs(angle)
+
+        if channel == 0:
+            pwm.setServoPulse(8 + channel, 2500 - int(angle / 0.09))
+        elif channel < 8:
+            pwm.setServoPulse(8 + channel, 500 - int(angle / 0.09))
+
+    @staticmethod
+    def setup_position():
+        pwm.setServoPulse(8, 1500)
+        pwm.setServoPulse(9, 1500)

copy.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+scp -r compLIB pi@10.20.85.225:/home/pi/compLIB