-
Notifications
You must be signed in to change notification settings - Fork 85
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
* Update C++ drivers for FW version 1.0.0 * Feature/split easy libraries (#149) * add vscode to gitignore * split easygopigo3 into 2 files: easygopigo3 and easy_sensors * Bit of linting * split easygopigo3 library * change print statement to a cleaner one * remove I2C_mutex * typo * Split easygopigo3.py and create easysensors.py * Feature/overall mutex (#152) * add vscode to gitignore * split easygopigo3 into 2 files: easygopigo3 and easy_sensors * Bit of linting * split easygopigo3 library * change print statement to a cleaner one * remove I2C_mutex * typo * Split easygopigo3.py and create easysensors.py * upping version number to 1.2 * add a check for overall mutex need * Add comments about overall_mutex support * Notebooks for Mouse Controller project. Change turn_degrees blocking default (#153) * removing i2c_mutex which will be found in script_tools instead (#148) * Revert "removing i2c_mutex which will be found in script_tools instead (#148)" This reverts commit 1e9ba8f. * Revert the removal of mock packages in the docs * add 2 notebooks in Mouse Control Project * change blocking default in turn_degrees to be consistent * adjust documentation for turn_degrees blocking parameter * better handling of mutex checking (#155) * Bug/line follower (#156) * better handling of mutex checking * re-add Line Follower * Fix/overallmutex (#157) * add 2 notebooks in Mouse Control Project * change blocking default in turn_degrees to be consistent * adjust documentation for turn_degrees blocking parameter * Check overall_mutex flag each time. * Add reset method Add reset_motor_encoder as a simpler way to reset one or both motors' encoders to 0. * Fix/trickle down use mutex value (#162) * Trickle down use_mutex values when sensors are instantiated from easygopigo3 * new reconfig_bus() method (#167) * add 2 notebooks in Mouse Control Project * change blocking default in turn_degrees to be consistent * adjust documentation for turn_degrees blocking parameter * Trickle down use_mutex values when sensors are instantiated from easygopigo3 * new reconfig_bus method * remove errant print * feature - updated documentation for all the things we did (#168) * feature - first major things to modify * feature - use conda instead of pip * feature - disable deb checker * feature - being explicit is safer than being sorry * feature - clean things up * feature - more on autosummary stuff * feature - create a new index for basic API * feature - add cross-reference to disensors * feature - lots of changes * remove version support on RTD as we don't have a release system * make EasyGoPiGo3 class's documentation up-to-date * feature - small improvement to a sentence * feature - further work on easygopigo3.py docstrings * feature - add list of soon to be deprecated API * feature - improve the "deprecated api" page * feature - split the documentation into sections * feature - add note to class graphic * feature - fix description alignments * feature - split functions/classes list into multiple lists * feature - fix the tutorials section * feature - make docs more pretty * Fix/distance sensor (#169) * add 2 notebooks in Mouse Control Project * change blocking default in turn_degrees to be consistent * adjust documentation for turn_degrees blocking parameter * change the call to easyDistanceSensor
- Loading branch information
Showing
31 changed files
with
3,176 additions
and
2,462 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -104,3 +104,4 @@ sftp-config-alt6.json | |
| .json | ||
|
|
||
| .ftpconfig | ||
| .vscode/sftp.json | ||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| { | ||
| "cells": [ | ||
| { | ||
| "cell_type": "markdown", | ||
| "metadata": {}, | ||
| "source": [ | ||
| "# Mouse Control Project\n", | ||
| "\n", | ||
| "In this project, you'll be able to control your `GoPiGo3` robot with a ``wireless mouse``.\n", | ||
| "Make sure you connect a `wireless mouse` to your `Raspberry Pi` and then launch the script (preferably with SSH).\n", | ||
| "\n", | ||
| "\n", | ||
| "\n", | ||
| "When the ``mouse_control_robot`` script is launched (with either Python 2 or 3), the user\n", | ||
| "is prompted to input a value which represents the mode of operation:\n", | ||
| "\n", | ||
| "* When the input value is `choice = 1`, the robot gets to be controlled by the mouse's buttons. Here's a list on what each combination of buttons does:\n", | ||
| " * The `left` button of the mouse - moves the `GoPiGo3` to the left.\n", | ||
| " * The `right` button of the mouse - moves the `GoPiGo3` to the right.\n", | ||
| " * The `middle` button of the mouse - moves the `GoPiGo3` backward.\n", | ||
| " * Both the `left` & the `right` buttons of the mouse - moves the `GoPiGo3` forward.\n", | ||
| " * Not pressing any button keeps the robot stationary.\n", | ||
| "\n", | ||
| "* When the input value is `choice = 2`, the robot gets to be controlled by the mouse's movements.\n", | ||
| " * Moving the mouse `forward`, makes the `GoPiGo3` to move forward.\n", | ||
| " * Moving the mouse `backward`, makes the `GoPiGo3` to move backward.\n", | ||
| " * Moving the mouse to the `left`, makes the `GoPiGo3` to move to the left.\n", | ||
| " * Moving the mouse to the `right`, makes the `GoPiGo3` to move to the right.\n", | ||
| " * Not moving the mouse in any direction keeps the robot stationary.\n", | ||
| "\n", | ||
| "When closing the app, press the `CTRL-C` combination of keys and move the mouse around just a little bit, so that the process stops. That's because the script uses blocking methods and while the mouse is stationary (and no buttons are pressed), the script is in a state of *\"waiting\"*. \n", | ||
| "\n", | ||
| "\n" | ||
| ] | ||
| } | ||
| ], | ||
| "metadata": { | ||
| "kernelspec": { | ||
| "display_name": "Python 3", | ||
| "language": "python", | ||
| "name": "python3" | ||
| }, | ||
| "language_info": { | ||
| "codemirror_mode": { | ||
| "name": "ipython", | ||
| "version": 3 | ||
| }, | ||
| "file_extension": ".py", | ||
| "mimetype": "text/x-python", | ||
| "name": "python", | ||
| "nbconvert_exporter": "python", | ||
| "pygments_lexer": "ipython3", | ||
| "version": "3.4.3" | ||
| } | ||
| }, | ||
| "nbformat": 4, | ||
| "nbformat_minor": 2 | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,253 @@ | ||
| { | ||
| "cells": [ | ||
| { | ||
| "cell_type": "markdown", | ||
| "metadata": {}, | ||
| "source": [ | ||
| "## License\n", | ||
| " GoPiGo for the Raspberry Pi: an open source robotics platform for the Raspberry Pi.\n", | ||
| " Copyright (C) 2017 Dexter Industries\n", | ||
| "This program is free software: you can redistribute it and/or modify\n", | ||
| "it under the terms of the GNU General Public License as published by\n", | ||
| "the Free Software Foundation, either version 3 of the License, or\n", | ||
| "(at your option) any later version.\n", | ||
| "This program is distributed in the hope that it will be useful,\n", | ||
| "but WITHOUT ANY WARRANTY; without even the implied warranty of\n", | ||
| "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n", | ||
| "GNU General Public License for more details.\n", | ||
| "You should have received a copy of the GNU General Public License\n", | ||
| "along with this program. If not, see <http://www.gnu.org/licenses/gpl-3.0.txt>." | ||
| ] | ||
| }, | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": null, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [ | ||
| "import struct\n", | ||
| "import sys\n", | ||
| "import signal\n", | ||
| "from time import sleep\n", | ||
| "from easygopigo3 import EasyGoPiGo3\n", | ||
| "from builtins import input\n", | ||
| "import threading\n", | ||
| "import gopigo3\n", | ||
| "import atexit\n", | ||
| "\n", | ||
| "debug = False # Print raw values when debugging\n", | ||
| "signal_not_called = True # used to stop reading values from the mouse\n", | ||
| "\n", | ||
| "MOUSE_THRESH = 20 # the mouse's sensitivity - the bigger the number, the less sensible the mouse. Idem vice-versa.\n", | ||
| "\n", | ||
| "# ensure that upon exit the robot stops moving\n", | ||
| "def cleanup_func(gopigo3):\n", | ||
| " print(\"stopping GoPiGo3\")\n", | ||
| " gopigo3.stop()\n", | ||
| "\n", | ||
| "# upon exit, stop reading values from the mouse\n", | ||
| "# used in conjunction with signal_not_called var\n", | ||
| "def signal_handler(signal, frame):\n", | ||
| " print(\"stop reading mouse values\")\n", | ||
| " global signal_not_called\n", | ||
| " signal_not_called = False\n", | ||
| "\n", | ||
| "# bLeft is 1 if the left mouse button is pressed and 0 if it isn't\n", | ||
| "# bMiddle is 1 if the middle mouse button is pressed and 0 if it isn't\n", | ||
| "# bRight is 1 if the right mouse button is pressed and 0 if it isn't\n", | ||
| "# x is the position of the mouse on the x axis\n", | ||
| "# y is the position of the mouse on the y axis\n", | ||
| "def getMouseValues(file_input):\n", | ||
| "\n", | ||
| " buf = file_input.read(3)\n", | ||
| "\n", | ||
| " # if ran with Python 3\n", | ||
| " # ord function will throw an exception, since\n", | ||
| " # buf[0] already is an integer, as opposed in Python 2\n", | ||
| " # where buf[0] is a string\n", | ||
| " try:\n", | ||
| " button = ord(buf[0])\n", | ||
| " except TypeError as msg:\n", | ||
| " button = buf[0]\n", | ||
| " if debug is True:\n", | ||
| " print(str(msg))\n", | ||
| "\n", | ||
| " print(button)\n", | ||
| " left_button = (button & 0x1) > 0\n", | ||
| " middle_button = (button & 0x4) > 0\n", | ||
| " right_button = (button & 0x2) > 0\n", | ||
| " x_axis, y_axis = struct.unpack(\"bb\", buf[1:])\n", | ||
| "\n", | ||
| " if debug is True:\n", | ||
| " print(\"Left but: {}, Middle but: {}, Right but: {}, x pos: {}, y pos: {}\".format(left_button, middle_button, right_button, x_axis, y_axis))\n", | ||
| "\n", | ||
| " return (left_button, middle_button, right_button, x_axis, y_axis)\n", | ||
| "\n", | ||
| "\n", | ||
| "def Main():\n", | ||
| "\n", | ||
| " print(\" _____ _____ _ _____ ____ \")\n", | ||
| " print(\" / ____| | __ (_)/ ____| |___ \\ \")\n", | ||
| " print(\" | | __ ___ | |__) || | __ ___ __) |\")\n", | ||
| " print(\" | | |_ |/ _ \\| ___/ | | |_ |/ _ \\ |__ < \")\n", | ||
| " print(\" | |__| | (_) | | | | |__| | (_) | ___) |\")\n", | ||
| " print(\" \\_____|\\___/|_| |_|\\_____|\\___/ |____/ \")\n", | ||
| " print(\" \")\n", | ||
| "\n", | ||
| " print(\"To move the robot around using the mouse buttons press 1 and enter.\")\n", | ||
| " print(\"To move the robot around using the movements of the mouse press 2 and enter.\")\n", | ||
| "\n", | ||
| " # read data from the keyboard\n", | ||
| " # if it fails reading the right values, then the script exits\n", | ||
| " try:\n", | ||
| " choice = int(input(\"choice (1/2) = \"))\n", | ||
| " except ValueError:\n", | ||
| " print(\"Invalid number read\")\n", | ||
| " sys.exit(1)\n", | ||
| "\n", | ||
| " if not (choice == 1 or choice == 2):\n", | ||
| " print(\"Invalid number entered\")\n", | ||
| " sys.exit(1)\n", | ||
| "\n", | ||
| " # now the choice var can either be 1 or 2\n", | ||
| " # show different menus depending on the choice var\n", | ||
| " print(\"\\nWith this script you can control your GoPiGo3 robot with a wireless mouse.\")\n", | ||
| " if choice == 1:\n", | ||
| " print(\"1. Left + Right buttons of the mouse - move the GoPiGo3 forward\")\n", | ||
| " print(\"2. Left button of the mouse - move the GoPiGo3 to the left\")\n", | ||
| " print(\"3. Right button of the mouse - move the GoPiGo3 to the right\")\n", | ||
| " print(\"4. Middle button of the mouse - move the GoPiGo3 backward\")\n", | ||
| " else:\n", | ||
| " print(\"1. Move the mouse forward - for moving the GoPiGo3 forward\")\n", | ||
| " print(\"2. Move the mouse backward - for moving the GoPiGo3 backward\")\n", | ||
| " print(\"3. Move the mouse to the left - for rotating the GoPiGo3 to the left\")\n", | ||
| " print(\"4. Move the mouse to the right - for rotating the GoPiGo3 to the right\")\n", | ||
| "\n", | ||
| " # Wait for an input to start\n", | ||
| " input(\"\\nPress Enter to start\")\n", | ||
| "\n", | ||
| " # create an instance of the EasyGoPiGo3 class\n", | ||
| " # if it fails instantiating the object, then the scripts exits\n", | ||
| " try:\n", | ||
| " robot = EasyGoPiGo3()\n", | ||
| "\n", | ||
| " except IOError:\n", | ||
| " print(\"GoPiGo3 not detected\")\n", | ||
| " sys.exit(1)\n", | ||
| "\n", | ||
| " except gopigo3.FirmwareVersionError:\n", | ||
| " print(\"Please update your GoPiGo3 firmware\")\n", | ||
| " sys.exit(1)\n", | ||
| "\n", | ||
| " except Exception:\n", | ||
| " print(\"Something went wrong\")\n", | ||
| " sys.exit(1)\n", | ||
| "\n", | ||
| " # stops the robot from moving when exiting the script\n", | ||
| " # the cleanup_func is called after the signal_handler function\n", | ||
| " atexit.register(cleanup_func, gopigo3 = robot)\n", | ||
| "\n", | ||
| " print(\"\\nIn order to stop the script, press CTRL-C and move your mouse a little bit\")\n", | ||
| "\n", | ||
| " # open file for reading the continuous stream of data from the mouse\n", | ||
| " with open(\"/dev/input/mice\", \"rb\") as mouse_input:\n", | ||
| "\n", | ||
| " left_button = 0\n", | ||
| " middle_button = 0\n", | ||
| " right_button = 0\n", | ||
| " x_axis = 0\n", | ||
| " y_axis = 0\n", | ||
| "\n", | ||
| " # as long as CTRL-C hasn't been pressed\n", | ||
| " while signal_not_called:\n", | ||
| "\n", | ||
| " # read the mouse's values\n", | ||
| " # this is a blocking function\n", | ||
| " (left_button, middle_button, right_button, x_axis, y_axis) = getMouseValues(mouse_input)\n", | ||
| "\n", | ||
| " # if we have the first choice (see the menu)\n", | ||
| " if choice == 1:\n", | ||
| "\n", | ||
| " # when both the mouse's buttons are pressed\n", | ||
| " # move forward\n", | ||
| " if left_button == True and right_button == True:\n", | ||
| " robot.forward()\n", | ||
| " # when just the left button is pressed\n", | ||
| " # move to the left\n", | ||
| " elif left_button == True and right_button == False:\n", | ||
| " robot.left()\n", | ||
| " # when just the right button is pressed\n", | ||
| " # move to the right\n", | ||
| " elif left_button == False and right_button == True:\n", | ||
| " robot.right()\n", | ||
| " # when the middle button is pressed\n", | ||
| " # move backward\n", | ||
| " elif middle_button == True:\n", | ||
| " robot.backward()\n", | ||
| " # when no button is pressed\n", | ||
| " # stop the robot from moving\n", | ||
| " elif middle_button == False or (left_button == False and right_button == False):\n", | ||
| " robot.stop()\n", | ||
| "\n", | ||
| " # if we have the second choice (see the menu)\n", | ||
| " else:\n", | ||
| "\n", | ||
| " # if the mouse is moved to the left\n", | ||
| " # then move the robot to the left\n", | ||
| " if x_axis < -MOUSE_THRESH:\n", | ||
| " robot.left()\n", | ||
| " # if the mouse is moved to the right\n", | ||
| " # then move the robot to the right\n", | ||
| " elif x_axis > MOUSE_THRESH:\n", | ||
| " robot.right()\n", | ||
| " # if the mouse is moved backward\n", | ||
| " # then move the robot backward\n", | ||
| " elif y_axis < -MOUSE_THRESH:\n", | ||
| " robot.backward()\n", | ||
| " # if the mouse is moved forward\n", | ||
| " # then move the robot forward\n", | ||
| " elif y_axis > MOUSE_THRESH:\n", | ||
| " robot.forward()\n", | ||
| " # if the mouse is not moving in any direction\n", | ||
| " # then stop the robot from moving\n", | ||
| " else:\n", | ||
| " robot.stop()\n", | ||
| "\n", | ||
| " sleep(0.10)\n", | ||
| "\n", | ||
| "if __name__ == \"__main__\":\n", | ||
| " # when CTRL-C is pressed, this is will ensure signal_handler is called\n", | ||
| " signal.signal(signal.SIGINT, signal_handler)\n", | ||
| " Main()\n" | ||
| ] | ||
| }, | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": null, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [] | ||
| } | ||
| ], | ||
| "metadata": { | ||
| "kernelspec": { | ||
| "display_name": "Python 3", | ||
| "language": "python", | ||
| "name": "python3" | ||
| }, | ||
| "language_info": { | ||
| "codemirror_mode": { | ||
| "name": "ipython", | ||
| "version": 3 | ||
| }, | ||
| "file_extension": ".py", | ||
| "mimetype": "text/x-python", | ||
| "name": "python", | ||
| "nbconvert_exporter": "python", | ||
| "pygments_lexer": "ipython3", | ||
| "version": "3.4.3" | ||
| } | ||
| }, | ||
| "nbformat": 4, | ||
| "nbformat_minor": 2 | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.