add motor control

README.md

@@ -108,7 +108,26 @@ 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
+```
 
 
 

server.py

@@ -1,4 +1,7 @@
 import sys
+import serial
+import sys
+import time
 
 from twisted.internet import reactor
 from twisted.python import log
@@ -11,12 +14,34 @@ 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):
@@ -25,35 +50,53 @@ class EchoServerProtocol(WebSocketServerProtocol):
     def onMessage(self, payload, isBinary):
         global i
         i = i + 1
-        if isBinary:
+        # if isBinary:
-            print("Binary message received: {0} bytes".format(len(payload)))
+        #    print("Binary message received: {0} bytes".format(len(payload)))
-        else:
+        # else:
-            print("Text message received: {0}".format(payload.decode('utf8')))
+        #    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]))
+        print("Str ->{0}".format(string))
-        setServo(1, int(string.split("/")[1]))
+        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)
+    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)
     
-    factory = WebSocketServerFactory(u"ws://10.174.136.143:45684")
+        # we server static files under "/" ..
-    factory.protocol = EchoServerProtocol
+        root = File(".")
     
-    resource = WebSocketResource(factory)
+        # and our WebSocket server under "/ws" (note that Twisted uses
+        # bytes for URIs)
+        root.putChild(b"ws", resource)
     
-    # we server static files under "/" ..
+        # both under one Twisted Web Site
-    root = File(".")
+        site = Site(root)
+        reactor.listenTCP(45684, site)
     
-    # and our WebSocket server under "/ws" (note that Twisted uses
+        reactor.run()
-    # bytes for URIs)
-    root.putChild(b"ws", resource)
     
-    # both under one Twisted Web Site
+        vacuum_serial.write(str.encode("testmode off \n"))
-    site = Site(root)
+        vacuum_serial.close()
-    reactor.listenTCP(45684, site)
 
-    reactor.run()
+    except KeyboardInterrupt:
+        print("Fuuuuuuuuuuuu")
+        vacuum_serial.write(str.encode("testmode off \n"))
+        vacuum_serial.close()

www/css/main.css

@@ -20,4 +20,10 @@ img {
  
     max-width: 100%;
     height: auto;
-  }
+}
+
+  p {
+    margin-right: 5%; 
+    margin-left: 5%;
+    font-size: 18px;
+}

www/index.html

@@ -18,51 +18,77 @@
     <script type="text/javascript">
         var sock = null;
         var ellog = null;
-
+        var video_sock = "http://" + window.location.hostname + ":8081/";
-        window.onload = function() {
+        var servo_sock = "ws://" + window.location.hostname + ":45684/ws?a=23&foo=bar";
-
+
-           ellog = document.getElementById('log');
+        window.onload = function () {
-
+
-           var wsuri;
+            ellog = document.getElementById('log');
-           if (window.location.protocol === "file:") {
+
-              wsuri = "ws://10.174.136.143:45684/ws?a=23&foo=bar";
+            var wsuri = servo_sock;
-           } else {
+            //if (window.location.protocol === "file:") {
-              wsuri = "ws://" + window.location.hostname + ":45684/ws?a=23&foo=bar";
+            //    wsuri = "ws://10.174.136.143:45684/ws?a=23&foo=bar";
-           }
+            //} else {
-
+            //    wsuri = "ws://" + window.location.hostname + ":45684/ws?a=23&foo=bar";
-           if ("WebSocket" in window) {
+            //}
-              sock = new WebSocket(wsuri);
+
-           } else if ("MozWebSocket" in window) {
+            if ("WebSocket" in window) {
-              sock = new MozWebSocket(wsuri);
+                sock = new WebSocket(wsuri);
-           } else {
+            } else if ("MozWebSocket" in window) {
-            console.log("Browser does not support WebSocket!");
+                sock = new MozWebSocket(wsuri);
-           }
+            } else {
-
+                console.log("Browser does not support WebSocket!");
-           if (sock) {
+            }
-              sock.onopen = function() {
+
-                console.log("Connected to " + wsuri);
+            if (sock) {
-              }
+                sock.onopen = function () {
-
+                    console.log("Connected to " + wsuri);
-              sock.onclose = function(e) {
+                }
-                console.log("Connection closed (wasClean = " + e.wasClean + ", code = " + e.code + ", reason = '" + e.reason + "')");
+
-                 sock = null;
+                sock.onclose = function (e) {
-              }
+                    console.log("Connection closed (wasClean = " + e.wasClean + ", code = " + e.code + ", reason = '" + e.reason + "')");
-
+                    sock = null;
-              sock.onmessage = function(e) {
+                }
-                console.log("Got echo: " + e.data);
+
-              }
+                sock.onmessage = function (e) {
-           }
+                    console.log("Got echo: " + e.data);
+                }
+            }
         };
 
         function send() {
-           if (sock) {
+            if (sock) {
-              sock.send(document.getElementById("x-pos").value + "/" + document.getElementById("y-pos").value);
+                var msg = document.getElementById("x-pos").value + "/" + document.getElementById("y-pos").value;
-              console.log("Sent " + msg);
+                sock.send(msg);
-           } else {
+                console.log("Sent " + msg);
-            console.log("Not connected.");
+            } else {
-           }
+                console.log("Not connected.");
+            }
+        };
+
+        function send_button(ch) {
+            if (sock) {
+                switch (ch) {
+                    case 'F':
+                        var msg = 'F';
+                        break;
+                    case 'D':
+                        var msg = 'D';
+                        break;
+                    case 'R':
+                        var msg = 'R';
+                        break;
+                    case 'L':
+                        var msg = 'L';
+                        break;
+                }
+                sock.send(msg);
+                console.log("Sent " + msg);
+            } else {
+                console.log("Not connected.");
+            }
         };
-     </script>
+    </script>
 </head>
 
 <body>
@@ -70,7 +96,8 @@
         <div class="container-fluid">
             <!-- Brand and toggle get grouped for better mobile display -->
             <div class="navbar-header">
-                <button type="button" class="navbar-toggle collapsed" data-toggle="collapse" data-target="#bs-example-navbar-collapse-1">
+                <button type="button" class="navbar-toggle collapsed" data-toggle="collapse"
+                    data-target="#bs-example-navbar-collapse-1">
                     <span class="sr-only">Toggle navigation</span>
                     <span class="icon-bar"></span>
                     <span class="icon-bar"></span>
@@ -103,20 +130,51 @@
                 </div>
                 <div class="text-center">
                     <br>
-                    <img style="-webkit-user-select: none;" src="http://10.174.136.143:8081/">
+                    <img style="-webkit-user-select: none;" src="http://10.253.35.143:8081/">
                     <br>
                     <br>
-                    <form class="range-field">
+                    <table width="100%">
-                        <p>Вертикаль:<input type="range" min="50" max="250" id="y-pos" oninput="send();" value="140" /></p>
+                        <tr>
-                        <p>Горизонталь:<input type="range" min="50" max="250" id="x-pos" oninput="send();" value="140" /></p>
+                            <th width="20%">
-                    </form>
+                                
+                                    <p align="center"><input type="button" style="width:120px;height:35px" id="forword-butt" value=&#8657 accesskey="w"
+                                            onclick="send_button('F')">
+                                    </p>
+                                    <p align="center"><input type="button" style="width:80px;height:35px" id="left-butt" value=&#8656 accesskey="a"
+                                            onclick="send_button('L')">
+                                        <input type="button" style="width:80px;height:35px" id="right-butt" value=&#8658 accesskey="d"
+                                            onclick="send_button('R')">
+                                    </p>
+                                    <p align="center"><input type="button" style="width:120px;height:35px;" id="down-butt" value=&#8659 accesskey="s"
+                                            onclick="send_button('D')">
+                                    </p>
+                                
+                            </th>
+
+                            <th width="80%">
+                                
+                                    <form class="range-field">
+                                        <p>Вертикаль:<input type="range" min="50" max="250" id="y-pos" oninput="send();"
+                                                value="140" />
+                                        </p>
+                                        <p>Горизонталь:<input type="range" min="50" max="250" id="x-pos"
+                                                oninput="send();" value="140" /></p>
+                                    </form>
+                                
+                            </th>
+
+                        </tr>
+                    </table>
+
+
                 </div>
 
             </div>
         </div>
         <footer class="pull-left footer">
             <p class="col-md-12">
-                <hr class="divider">Проект создан в образовательных целях, при поддержке <a href="https://t.me/baumanrobotics">Bauman
+                <hr class="divider">Проект создан в образовательных целях, при поддержке <a
+                    href="https://t.me/baumanrobotics">Bauman
                     Robotics</a>.</a>
             </p>
         </footer>