diff options
Diffstat (limited to 'main.py')
| -rwxr-xr-x | main.py | 16 |
1 files changed, 13 insertions, 3 deletions
@@ -5,12 +5,20 @@ import serial import select from time import sleep import math +import RPi.GPIO as GPIO + +LED = 17 # Light emitting diode +PT = 27 # Phototransistor + +GPIO.setmode(GPIO.BCM) +GPIO.setup(PT, GPIO.IN) +GPIO.setup(LED, GPIO.OUT) # Open serial port to Arduino Nano -NANO = serial.Serial('/dev/ttyUSB1', 9600, timeout=1) +NANO = serial.Serial('/dev/ttyUSB1', 115200, timeout=1) sleep(2) -BluetoothProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/bt.py"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, stdin=subprocess.PIPE, text=True) +BluetoothProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/bt.py"], stdout=subprocess.PIPE, text=True) # Waiting on connection NANO.write(b"Bluetooth up\n") @@ -47,6 +55,7 @@ curDir = 0.0 desDir = 0.0 if bto.find("Connected") != -1: + GPIO.output(LED, True) nanoBtMessage = "Bluetooth connected " + bto[13:].translate({ord(c): None for c in ':'}) # Address to send to nano NANO.write(nanoBtMessage.encode()) print(nanoBtMessage) @@ -56,12 +65,13 @@ if bto.find("Connected") != -1: print(f"LIDAR PID: {LIDARProcess.pid}") # DWM Process Code - DWMProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/DWM.py"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, stdin=subprocess.PIPE, text=True) + DWMProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/DWM.py"], stdout=subprocess.PIPE, text=True) print(f"DWM PID: {DWMProcess.pid}") sleep(5) while bto != "1000": + print(GPIO.input(PD)) btReady, _, _ = select.select([BluetoothProcess.stdout], [], [], 0.0005) if btReady: |