diff options
Diffstat (limited to 'main.py')
| -rwxr-xr-x | main.py | 22 |
1 files changed, 12 insertions, 10 deletions
@@ -4,14 +4,16 @@ import signal import serial import select from time import sleep -# import I2C_LCD_driver as LCD -# AGVlcd = LCD.lcd() +# Open serial port to Arduino Nano +NANO = serial.Serial('/dev/ttyUSB1', 9600, 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) # Waiting on connection # AGVlcd.lcd_display_string("Waiting for Bluetooth connection...", 1) +NANO.write(b"Bluetooth up\n") print(BluetoothProcess.stdout.readline().strip()) # Connected? @@ -27,14 +29,12 @@ 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) + nanoBtMessage = "Bluetooth connected " + bto[13:].translate({ord(c): None for c in ':'}) # Address to send to nano + NANO.write(nanoBtMessage.encode()) + print(nanoBtMessage) # LIDAR Process Code - LIDARProcess = subprocess.Popen(["./home/pi/TNE107-RPI/LIDARProg", "--channel", "--serial", "/dev/ttyUSB1", "460800"], stdout=open(os.devnull, 'wb')) + LIDARProcess = subprocess.Popen(["/home/pi/TNE107-RPI/LIDARProg", "--channel", "--serial", "/dev/ttyUSB0", "460800"], stdout=open(os.devnull, 'wb')) print(f"LIDAR PID: {LIDARProcess.pid}") # DWM Process Code @@ -78,14 +78,16 @@ if bto.find("Connected") != -1: # NANO.write(b"Left\n") leftTurn = leftTurnIndex rightTurn = 0 - elif bto == "0": + else: 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") + NANO.write(b"Closing down\n") + sleep(1) + NANO.close() print("Terminating LIDAR process") os.kill(LIDARProcess.pid, signal.SIGINT) |