diff --git a/README.md b/README.md
index 8af25c9..17d38d6 100644
--- a/README.md
+++ b/README.md
@@ -108,11 +108,30 @@ sudo nano /etc/default/motion
```
-N. Пишем на пыхе
+6. Разбираемся с Питоном.
+
+```bash
+sudo apt install python3-pip
+pip3 install twisted autobahn pyserial
+
+```
+
+
+
+```bash
+git clone https://gitlab.com/zenls/rpi_remote_cam
+sudo cp -r rpi_remote_cam/www/* /var/www/html/
+sudo mv /var/www/html/index.php /var/www/html/index1.php
+
+#работа с скрвером
+scp -r * pi@10.253.35.143:~/rpi_remote_cam
+sudo cp -r www/* /var/www/html/
+python3 server.py
+```
------------------------------------------
-https://github.com/silvanmelchior/RPi_Cam_Web_Interface
+https://github.com/silvanmelchior/RPi_Cam_Web_Interface
\ No newline at end of file
diff --git a/server.py b/server.py
index 27bfcd3..3a6232a 100644
--- a/server.py
+++ b/server.py
@@ -1,4 +1,7 @@
import sys
+import serial
+import sys
+import time
from twisted.internet import reactor
from twisted.python import log
@@ -11,49 +14,89 @@ from autobahn.twisted.websocket import WebSocketServerFactory, \
from autobahn.twisted.resource import WebSocketResource
i = 0
+turn_sleeptime = 0.8
+straight_sleeptime = 0.5
+
+def setMotor(command):
+
+ if command == 'D':
+ vacuum_serial.write(str.encode(
+ "SetMotor LWheelDist 155 RWheelDist 155 Speed 150 \n"))
+ time.sleep(straight_sleeptime)
+ if command == 'L':
+ vacuum_serial.write(str.encode(
+ "SetMotor LWheelDist -190 RWheelDist 190 Speed 200 \n"))
+ time.sleep(turn_sleeptime)
+ if command == 'R':
+ vacuum_serial.write(str.encode(
+ "SetMotor LWheelDist 190 RWheelDist -190 Speed 200 \n"))
+ time.sleep(turn_sleeptime)
+ if command == 'F':
+ vacuum_serial.write(str.encode(
+ "SetMotor LWheelDist -155 RWheelDist -155 Speed 150 \n"))
+ time.sleep(straight_sleeptime)
def setServo(servoChannel, position):
servoStr = str(servoChannel) + "=" + str(position) + "\n"
with open("/dev/servoblaster", "wb") as f:
f.write(bytes(servoStr, 'utf-8'))
+
class EchoServerProtocol(WebSocketServerProtocol):
def onConnect(self, request):
print("WebSocket connection request: {}".format(request))
def onMessage(self, payload, isBinary):
- global i
- i = i + 1
- if isBinary:
- print("Binary message received: {0} bytes".format(len(payload)))
- else:
- print("Text message received: {0}".format(payload.decode('utf8')))
+ global i
+ i = i + 1
+ # if isBinary:
+ # print("Binary message received: {0} bytes".format(len(payload)))
+ # else:
+ # print("Text message received: {0}".format(payload.decode('utf8')))
string = " " + str(i)
self.sendMessage(payload + bytes(string, 'utf-8'), isBinary)
string = payload.decode('ASCII')
- setServo(0, int(string.split("/")[0]))
- setServo(1, int(string.split("/")[1]))
+ print("Str ->{0}".format(string))
+ if string[0] != 'R' and string[0] != 'L' and string[0] != 'F' and string[0] != 'D':
+ setServo(2, int(string.split("/")[0]))
+ setServo(1, int(string.split("/")[1]))
+ else:
+ setMotor(string[0])
if __name__ == '__main__':
- log.startLogging(sys.stdout)
-
- factory = WebSocketServerFactory(u"ws://10.174.136.143:45684")
- factory.protocol = EchoServerProtocol
-
- resource = WebSocketResource(factory)
-
- # we server static files under "/" ..
- root = File(".")
-
- # and our WebSocket server under "/ws" (note that Twisted uses
- # bytes for URIs)
- root.putChild(b"ws", resource)
-
- # both under one Twisted Web Site
- site = Site(root)
- reactor.listenTCP(45684, site)
-
- reactor.run()
+ try:
+
+ vacuum_serial = serial.Serial('/dev/ttyACM0', 115200)
+ vacuum_serial.write(str.encode("testmode on \n"))
+ time.sleep(1)
+
+ log.startLogging(sys.stdout)
+
+ factory = WebSocketServerFactory(u"ws://10.253.35.143:45684")
+ factory.protocol = EchoServerProtocol
+
+ resource = WebSocketResource(factory)
+
+ # we server static files under "/" ..
+ root = File(".")
+
+ # and our WebSocket server under "/ws" (note that Twisted uses
+ # bytes for URIs)
+ root.putChild(b"ws", resource)
+
+ # both under one Twisted Web Site
+ site = Site(root)
+ reactor.listenTCP(45684, site)
+
+ reactor.run()
+
+ vacuum_serial.write(str.encode("testmode off \n"))
+ vacuum_serial.close()
+
+ except KeyboardInterrupt:
+ print("Fuuuuuuuuuuuu")
+ vacuum_serial.write(str.encode("testmode off \n"))
+ vacuum_serial.close()
diff --git a/www/css/main.css b/www/css/main.css
index 82c0f88..2ca4d22 100644
--- a/www/css/main.css
+++ b/www/css/main.css
@@ -20,4 +20,10 @@ img {
max-width: 100%;
height: auto;
- }
\ No newline at end of file
+}
+
+ p {
+ margin-right: 5%;
+ margin-left: 5%;
+ font-size: 18px;
+}
diff --git a/www/index.html b/www/index.html
index 2ed7f1a..06aadb0 100644
--- a/www/index.html
+++ b/www/index.html
@@ -18,51 +18,77 @@
+
@@ -70,7 +96,8 @@
-
+
-
+
+
+