bot code

Author: Defcon27

robot_src/ARLO1.jpg

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+import socket
+import bot
+from flask import Flask, render_template, request, redirect, url_for, make_response
+import RPi.GPIO as gpio
+gpio.setmode(gpio.BOARD)
+gpio.setwarnings(False)
+
+
+# Get server ip
+s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+s.connect(("8.8.8.8", 80))
+server_ip = s.getsockname()[0]
+s.close()
+
+app = Flask(__name__)
+
+
+@app.route('/')
+def index():
+    
+    data = bot.dht()
+    humid = data[0]
+    temp = data[1]
+
+    return render_template('index.html', server_ip=server_ip, temperature=temp, humidity=humid)
+
+
+@app.route('/<changepin>', methods=['POST'])
+def reroute(changepin):
+    bot.init()
+
+    changePin = int(changepin)
+
+    if changePin == 1:
+        # motors.turnLeft()
+        bot.left()
+    elif changePin == 2:
+        bot.forward()
+        # motors.forward()
+    elif changePin == 3:
+        bot.right()
+        # motors.turnRight()
+    elif changePin == 4:
+        bot.backward()
+        # motors.backward()
+    elif changePin == 5:
+        gpio.cleanup()
+    else:
+        print("Wrong command")
+
+    response = make_response(redirect(url_for('index')))
+    return(response)
+
+
+app.run(debug=True, host='0.0.0.0', port=8000)

robot_src/app.py

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+import RPi.GPIO as gpio
+import time
+import sys
+import Tkinter as tk
+import random
+import Adafruit_DHT
+import time
+ 
+DHT_SENSOR = Adafruit_DHT.DHT11
+DHT_PIN = 17
+
+gpio.setmode(gpio.BOARD)
+gpio.setwarnings(False)
+
+
+def init() :
+	gpio.setmode(gpio.BOARD)
+	gpio.setup(31, gpio.OUT)
+	gpio.setup(33, gpio.OUT)
+	gpio.setup(35, gpio.OUT)
+	gpio.setup(37, gpio.OUT)
+
+
+def backward() :
+  #gpio.output(31, False)
+  #gpio.output(33, False)
+  gpio.output(35, True)
+  gpio.output(37, False)
+  time.sleep(1)
+  gpio.output(35, False)
+  #gpio.cleanup()
+
+
+def forward() :
+  #gpio.output(31, False)
+  #gpio.output(33, False)
+  gpio.output(35, False)
+  gpio.output(37, True)
+  time.sleep(1)
+  gpio.output(37, False)
+  #gpio.cleanup()
+
+
+def right() :
+  gpio.output(31, True)
+  gpio.output(33, False)
+  #time.sleep(0.2)
+  #gpio.output(35, False)
+  #gpio.output(37, True)
+  #time.sleep(tf)
+  #gpio.cleanup()
+
+def left() :
+  gpio.output(31, False)
+  gpio.output(33, True)
+  #time.sleep(0.2)
+  #gpio.output(35, False)
+  #gpio.output(37, True)
+  #time.sleep(tf)
+  #gpio.cleanup()
+  
+
+
+
+def dht(): #gets temp and humid returns [humid,temp]
+	humidity, temperature = Adafruit_DHT.read(DHT_SENSOR, DHT_PIN)
+	
+	print([humidity,temperature])
+	return [humidity,temperature]
+
+def distance(): # gets obstacle distace (returns float)
+	try:
+		TRIG = 16
+		ECHO = 18
+
+		gpio.setup(TRIG,gpio.OUT)
+		gpio.setup(ECHO,gpio.IN)
+		
+		gpio.output(TRIG, True)
+		time.sleep(0.00001)
+		gpio.output(TRIG, False)
+
+		while gpio.input(ECHO) == False:
+			start = time.time()
+
+		while gpio.input(ECHO) == True:
+			end = time.time()
+
+		sig_time = end-start
+		#CM:
+		distance = sig_time/ 0.000058
+		#print('Distance: {} centimeters'.format(distance))
+		gpio.cleanup()
+
+		return distance
+	except:
+		print("except")
+		return 10
+		gpio.cleanup()
+
+def check(tf):
+	init()
+	dist=distance()
+	
+	if dist<40:
+		print("Dead",)
+		
+		x=random.randrange(0,2)
+		
+		if(x==0):
+			init()
+			left(tf)
+			backward(tf)
+		else:
+			init()
+			right(tf)
+			backward(tf)
+		
+		dist=distance()
+		if dist<15:
+			init()
+			backward(1)
+			init()
+			forward(tf)
+
+
+def autonomy():
+	tf=0.03
+	
+	x=random.randrange(0,3)
+	
+	if x==0:
+		for y in range(30):
+			check(tf)
+			init()
+			forward(0.2)
+	elif(x==1):
+		for y in range(30):
+			check(tf)
+			init()
+			left(tf)
+			forward(0.2)
+	elif(x==2):
+		for y in range(30):
+			check(tf)
+			init()
+			right(tf)
+			forward(tf)
+		
+
+
+
+
+'''def key_input(event) :
+	init()
+	print 'Key : ',event.char
+	key_press = event.char
+	sleep_time = 0.025
+	
+	if key_press.lower() == 'w':
+		forward()
+	elif key_press.lower() == 's':
+		backward()
+	elif key_press.lower() == 'a':
+		left()
+	elif key_press.lower() == 'd':
+		right()
+	elif key_press.lower() == 'z':
+		for i in range(30):
+			autonomy()
+	elif key_press.lower() == 'x':
+		gpio.cleanup()
+		sys.exit()
+	else:
+		gpio.cleanup()
+		
+		
+command = tk.Tk()
+command.bind('<KeyPress>',key_input)
+command.mainloop()'''
+
+