diff options
Diffstat (limited to 'main.py')
| -rwxr-xr-x | main.py | 24 |
1 files changed, 18 insertions, 6 deletions
@@ -4,10 +4,14 @@ import signal import serial import select from time import sleep +# import I2C_LCD_driver as LCD -BluetoothProcess = subprocess.Popen(["python", "-u", "bt.py"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, stdin=subprocess.PIPE, text=True) +# AGVlcd = LCD.lcd() + +BluetoothProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/bt.py"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, stdin=subprocess.PIPE, text=True) # Waiting on connection +# AGVlcd.lcd_display_string("Waiting for Bluetooth connection...", 1) print(BluetoothProcess.stdout.readline().strip()) # Connected? @@ -15,26 +19,32 @@ print(BluetoothProcess.stdout.readline().strip()) bto = BluetoothProcess.stdout.readline().strip() print(bto) + newCommand = False -rightTurnIndex = 5 +rightTurnIndex = 50 rightTurn = 0 -leftTurnIndex = 2 +leftTurnIndex = 20 leftTurn = 0 if bto.find("Connected") != -1: + # AGVlcd.lcd_clear() + # AGVlcd.lcd_display_string(bto) + # Open serial port to Arduino Nano NANO = serial.Serial('/dev/ttyUSB0', 9600, timeout=1) # LIDAR Process Code - LIDARProcess = subprocess.Popen(["./LIDARProg", "--channel", "--serial", "/dev/ttyUSB1", "460800"], stdout=open(os.devnull, 'wb')) + LIDARProcess = subprocess.Popen(["./home/pi/TNE107-RPI/LIDARProg", "--channel", "--serial", "/dev/ttyUSB1", "460800"], stdout=open(os.devnull, 'wb')) print(f"LIDAR PID: {LIDARProcess.pid}") # DWM Process Code - DWMProcess = subprocess.Popen(["python", "DWM.py"], stdout=open(os.devnull, 'wb')) + DWMProcess = subprocess.Popen(["python", "/home/pi/TNE107-RPI/DWM.py"], stdout=open(os.devnull, 'wb')) print(f"DWM PID: {DWMProcess.pid}") + # sleep(3) + while bto != "1000": - ready, _, _ = select.select([BluetoothProcess.stdout], [], [], 0.01) + ready, _, _ = select.select([BluetoothProcess.stdout], [], [], 0.001) if ready: bto = BluetoothProcess.stdout.readline().strip() @@ -71,6 +81,8 @@ if bto.find("Connected") != -1: elif bto == "0": NANO.write(b"Stop\n") + # Print current status (current command, heading? position? Could we include a cool progress bar? TO MISSION COMPLETEION?????) + print("Terminating Serial port to Arduino Nano") NANO.write(b"Stop\n") |