1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
|
import os
import subprocess
import signal
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)
GPIO.output(LED, False)
# DWM Process Code
DWMProcess = subprocess.Popen(["/home/pi/venv/bin/python", "-u", "/home/pi/TNE107-RPI/DWM.py"], stdout=subprocess.PIPE, text=True)
print(f"DWM PID: {DWMProcess.pid}")
# Open serial port to Arduino Nano
NANO = serial.Serial('/dev/ttyUSB1', 115200, timeout=1)
sleep(2)
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")
print(BluetoothProcess.stdout.readline().strip())
# Connected?
# Bluetooth output
bto = BluetoothProcess.stdout.readline().strip()
print(bto)
newCommand = False
dwm = ""
x = 0
y = 0
oldX = 0
oldY = 0
forward = False
backward = False
curDir = 0
desDir = 0
normDir = 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)
# LIDAR Process Code
LIDARProcess = subprocess.Popen(["/home/pi/TNE107-RPI/LIDARProg", "--channel", "--serial", "/dev/ttyUSB0", "460800"], stdout=open(os.devnull, 'wb'))
print(f"LIDAR PID: {LIDARProcess.pid}")
sleep(2)
while bto != "1000":
btReady, _, _ = select.select([BluetoothProcess.stdout], [], [], 0.0005)
if btReady:
bto = BluetoothProcess.stdout.readline().strip()
newCommand = True
else:
newCommand = False
dwmReady, _, _ = select.select([DWMProcess.stdout], [], [], 0.0005)
if dwmReady:
dwm = DWMProcess.stdout.readline().strip("\n")
x, y = dwm.split(",")
x = int(x)
y = int(y)
#print("Quality factor: " + qf)
# if float(qf) > 80:
if newCommand:
print(f"Command: {bto}")
if bto == "11":
# Store current position => old pos
NANO.write(b"Forward\n")
if forward == False:
oldX = x
oldY = y
sleep(2)
forward = True
backward = False
elif bto == "22":
# Store current position => old pos
NANO.write(b"Backward\n")
if backward == False:
oldX = x
oldY = y
sleep(2)
forward = False
backward = True
elif bto == "33":
desDir = desDir - 90
if desDir < 0:
desDir = desDir + 360
curDir = desDir
NANO.write(b"Right\n")
sleep(0.95)
NANO.write(b"Stop\n")
elif bto == "44":
desDir = desDir + 90
if desDir >= 360:
desDir = desDir - 360
curDir = desDir
NANO.write(b"Left\n")
sleep(0.9)
NANO.write(b"Stop\n")
elif bto == "55":
desDir = desDir - 45
if desDir < 0:
desDir = desDir + 360
curDir = desDir
NANO.write(b"Right\n")
sleep(0.45)
NANO.write(b"Stop\n")
elif bto == "66":
desDir = desDir + 45
if desDir >= 360:
desDir = desDir - 360
curDir = desDir
NANO.write(b"Left\n")
sleep(0.45)
NANO.write(b"Stop\n")
elif bto == "420":
print("reset")
desDir = 0
elif bto == "0":
NANO.write(b"Stop\n")
forward = False
backward = False
elif bto == "10":
NANO.write(b"Stop\n")
forward = False
backward = False
curDir = 340# math.atan2(y - oldY, x - oldX) * (180/math.pi)
if curDir < 0:
curDir = curDir + 360
if curDir >= 360:
curDir = curDir - 360
normDir = (desDir - curDir) % 360
if normDir > 180:
normDir -= 360
if forward or backward:
if normDir > 10:
print("Adjusting to the left")
NANO.write(b"Left\n")
sleep(normDir / 1000)
if normDir < -10:
print("Adjusting to the right")
NANO.write(b"Right\n")
sleep(normDir / 1000)
if forward:
NANO.write(b"Forward\n")
if backward:
NANO.write(b"Backward\n")
sleep(0.1)
print(f"current pos ({x}, {y}) -> old pos ({oldX}, {oldY})")
print(f"Current direction: {curDir}")
print(f"Normalized direction: {normDir}")
print(f"Desired direction: {desDir}")
with open("angle.txt", "w") as f:
f.write(f"{desDir}" + '\n')
f.close()
# Print current status (current command, heading? position? Could we include a cool progress bar? TO MISSION COMPLETETION?????)
print("Terminating Serial port to Arduino Nano")
NANO.write(b"Closing down\n")
sleep(1)
NANO.close()
print("Terminating LIDAR process")
os.kill(LIDARProcess.pid, signal.SIGINT)
print("Terminating DWM Process")
os.kill(DWMProcess.pid, signal.SIGINT)
print("Terminating Bluetooth Process")
os.kill(BluetoothProcess.pid, signal.SIGINT)
# def calc_turn(desiredDirection, currentDirection):
|
