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Raspberry Pi Python Robot Class - see http://reefwingrobotics.blogspot.com.au/
#!/usr/bin/python
# RS_Robot.py - Robot Class for the Raspberry Pi
#
# 4 March 2017 - 1.0 Original Issue
#
# Reefwing Software
# Simplified BSD Licence - see bottom of file.
import RPi.GPIO as GPIO
import os, signal
from time import sleep
from enum import Enum, unique
from RS_Servo import Servo
from RS_Server import Server
from RS_MotorControl import MotorControl
@unique
class Task(Enum):
HALT = 1
REMOTE = 2
PATROL = 3
class Robot():
# Robot class - includes motor control, 2 servos and a web server
def __init__(self):
# Create a new robot instance
print("Robot booting...")
self.server = Server(self) # start web server for remote control
print(self.server)
self.pan_servo = Servo(5, 3, 11) # servo which controls ultrasonic pan
self.tilt_servo = Servo(6, 2, 11) # servo which controls ultrasonic tilt
self.motor_control = MotorControl() # create a new motor control instance
self.pan_servo.start() # start servo PWM
self.tilt_servo.start()
# Command method look up table for parse_command()
self.CMD_DICT = {"f" : self.motor_control.forward,
"l" : self.motor_control.left,
"r" : self.motor_control.right,
"b" : self.motor_control.back,
"s" : self.motor_control.stop,
"+" : self.motor_control.faster,
"-" : self.motor_control.slower,
"m" : lambda: self.assign_task(Task.REMOTE),
"a" : lambda: self.assign_task(Task.PATROL)}
def __str__(self):
# Return string representation of robot
return "Robot Motor Control: base time - {0} sec, duty - {1}%".format(self.motor_control.base_time, self.motor_control.duty)
def assign_task(self, TID):
# Stub - will assign new robot task
pass
def parse_command(self, cmd):
# Process and action command request
print("Received command: ", cmd)
try:
cmd_method = self.CMD_DICT.get(cmd)
except KeyError:
print("ERROR:: Unknown Command: ", cmd)
cmd_method = lambda: self.assign_task(Task.HALT)
cmd_method()
def test(self):
# Self Test robot and run diagnostics
print(self)
print("Motor Test...")
self.motor_control.speed(20)
self.motor_control.right_forward()
sleep(1)
self.motor_control.stop()
sleep(1)
self.motor_control.left_forward()
sleep(1)
self.motor_control.stop()
print("Servo Test...")
self.pan_servo.scan()
self.tilt_servo.scan()
sleep(2)
# Move the ultrasonic sensor out of the view of the camera
print("Moving servos to manual control position")
self.pan_servo.centre()
self.tilt_servo.max_dc()
sleep(1)
# Stop servo chattering by turning off PWM
self.pan_servo.stop()
self.tilt_servo.stop()
print("Commence video streaming...")
self.server.start()
def cleanup(self):
self.server.cleanup()
self.motor_control.cleanup()
self.pan_servo.cleanup()
self.tilt_servo.cleanup()
def main():
robot = Robot() # create a new robot instance
def endProcess(signum = None, frame = None):
# Called on process termination.
if signum is not None:
SIGNAL_NAMES_DICT = dict((getattr(signal, n), n) for n in dir(signal) if n.startswith('SIG') and '_' not in n )
print("signal {} received by process with PID {}".format(SIGNAL_NAMES_DICT[signum], os.getpid()))
print("\n-- Terminating program --")
print("Cleaning up PWM and GPIO...")
robot.cleanup()
GPIO.cleanup()
print("Done.")
exit(0)
# Assign handler for process exit
signal.signal(signal.SIGTERM, endProcess)
signal.signal(signal.SIGINT, endProcess)
signal.signal(signal.SIGHUP, endProcess)
signal.signal(signal.SIGQUIT, endProcess)
robot.test()
endProcess()
if __name__ == "__main__":
# execute only if run as a script
main()
## Copyright (c) 2017, Reefwing Software
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1. Redistributions of source code must retain the above copyright notice, this
## list of conditions and the following disclaimer.
## 2. Redistributions in binary form must reproduce the above copyright notice,
## this list of conditions and the following disclaimer in the documentation
## and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
## ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
## WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
## DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
## (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
## LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
## ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
## (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
## SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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