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# the Lidar returns some error values when it can't get a measurement.
# any value below 16mm indicates a bad reading or other problem.
# this code is practice for trimming the bad readings out of the array
# containing distances & angles.

import numpy as np
np.set_printoptions(suppress=True)

# create an array with some distances which returned invalid (ie 0, 0.002)
scan= np.array([ \

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#!/usr/bin/env python
# Reads the PAUSE button using interupts and sets the LED
# Pin table at https://github.com/beagleboard/beaglebone-blue/blob/master/BeagleBone_Blue_Pin_Table.csv

# Import PyBBIO library:
import Adafruit_BBIO.GPIO as GPIO
import time

button="P8_9"  # PAUSE=P8_9, MODE=P8_10
LED   ="USR3"

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pcm.!default {
    type plug
    slave {
    pcm "hw:1,0"
    }
}
ctl.!default {
    type hw
    card 1
}

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# This is the SCUTTLE replacement for the adafruit_pwm.py file
# Use this program to overwrite the original adafruit_pwm.py contents.

def setup(robot_config): # setup is a required function for the selected hardware program
    return

    # A function for sending command to a file in the temporary folder 
def tmpFile(value): # this function takes a 2-element array called val
    txt = open("/tmp/commandFile.txt",'w+') # file with specified name
    txt.write(str(value))

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# l2_displacement.py

# This program takes the encoder values from encoders, computes wheel movement
# calculates the chassis displacement and continuously adds up the displacement
# to indicate how much the robot has advanced, in meters.

import L1_encoder as enc                    # local library for encoders
import numpy as np                          # library for math operations
import time                                 # library for time access

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import time
import math
import logging
import numpy as np
from scuttlepy import gpio
from scuttlepy import wheels
from scuttlepy import mpu

# Create and configure logger
logging.basicConfig(filename="robotTest.log", format='%(asctime)s %(message)s', filemode='w')

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[{"id":"22de6241.99d99e","type":"tab","label":"ReceiveMQTT","disabled":false,"info":""},{"id":"fa9bfea5.972ee","type":"mqtt in","z":"22de6241.99d99e","name":"","topic":"SCUTTLE/pi/cmd","qos":"2","datatype":"auto","broker":"1cc0cc73.690154","x":120,"y":80,"wires":[["721e0737.c93978","8d8ca943.671f88"]]},{"id":"721e0737.c93978","type":"csv","z":"22de6241.99d99e","name":"","sep":",","hdrin":false,"hdrout":"all","multi":"one","ret":"\\n","temp":"fieldA, fieldB","skip":"0","strings":true,"include_empty_strings":"","include_null_values":"","x":180,"y":180,"wires":[["cc5a197f.041b88","5895d1cf.f5221"]]},{"id":"cc5a197f.041b88","type":"file","z":"22de6241.99d99e","name":"","filename":"/home/pi/piScuttle/data3.csv","appendNewline":true,"createDir":true,"overwriteFile":"true","encoding":"none","x":350,"y":240,"wires":[[]]},{"id":"5895d1cf.f5221","type":"debug","z":"22de6241.99d99e","name":"debug3","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","sta

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[{"id":"22de6241.99d99e","type":"tab","label":"GamePad","disabled":false,"info":""},{"id":"3f6df30c.f1a0bc","type":"csv","z":"22de6241.99d99e","name":"","sep":"\\t","hdrin":true,"hdrout":"none","multi":"one","ret":"\\n","temp":"","skip":"0","strings":true,"include_empty_strings":"","include_null_values":"","x":370,"y":280,"wires":[["51721a8b.c03934","6003e56b.07b51c"]]},{"id":"d4cc4cd7.6b652","type":"file in","z":"22de6241.99d99e","name":"","filename":"/home/pi/piScuttle/data2.csv","format":"utf8","chunk":false,"sendError":false,"encoding":"none","x":260,"y":200,"wires":[["3f6df30c.f1a0bc"]]},{"id":"ab78c8b0.7a8e18","type":"inject","z":"22de6241.99d99e","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"","payloadType":"date","x":110,"y":120,"wires":[["d4cc4cd7.6b652"]]},{"id":"51721a8b.c03934","type":"mqtt out","z":"22de6241.99d99e","name":"","topic":"SCUTTLE/pi/gp2","qos":"2","retain":"","broker":"1cc0cc73.690154","x":470,

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[{"id":"4a052b50.075214","type":"tab","label":"PlotGP","disabled":false,"info":""},{"id":"dc90d6ca.9573c8","type":"ui_chart","z":"4a052b50.075214","name":"GamePad axis0 Chart","group":"341ef7b5.bb9218","order":6,"width":0,"height":0,"label":"Gamepad Axis0 Chart","chartType":"line","legend":"false","xformat":"HH:mm","interpolate":"linear","nodata":"Waiting for Data...","dot":false,"ymin":"-100","ymax":"100","removeOlder":"10","removeOlderPoints":"","removeOlderUnit":"60","cutout":0,"useOneColor":false,"useUTC":false,"colors":["#1f77b4","#aec7e8","#ff7f0e","#2ca02c","#98df8a","#d62728","#ff9896","#9467bd","#c5b0d5"],"useOldStyle":false,"outputs":1,"x":240,"y":260,"wires":[[]]},{"id":"350633a1.11bc9c","type":"ui_gauge","z":"4a052b50.075214","name":"","group":"341ef7b5.bb9218","order":1,"width":0,"height":0,"gtype":"gage","title":"Gamepad Axis0 Value","label":"percent","format":"{{value}}","min":"-100","max":"100","colors":["#00b500","#e6e600","#ca3838"],"seg1":"","seg2":"","x":240,"y":220,"wires":[]},{"id":"1cbd

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{
    "name": "SCUTTLE",
    "host": "192.168.1.8",
    "protocol": "sftp",
    "port": 22,
    "username": "pi",
    "password": "raspberry"
    "remotePath": "/home",
    "uploadOnSave": true
}