mirror of
https://github.com/VitaAetaerna/Robotino.git
synced 2024-09-19 17:40:57 +02:00
118 lines
2.7 KiB
Python
118 lines
2.7 KiB
Python
import requests
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import signal
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import webbrowser
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import json
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import time
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from PIL import Image, ImageStat
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from io import BytesIO
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import keyboard
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IP = "192.168.100.40"
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PARAMS = {'sid' : 'Drive'}
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run = True
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def signal_handler(sig, frame):
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global run
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print('U pressed Ctrl-C')
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run = False
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# DEFINE ALL URL's
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def set_vel(vel):
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OMNIDRIVE_URL = "http://" + IP + "/data/omnidrive"
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r = requests.post(url=OMNIDRIVE_URL, params=PARAMS, json=vel)
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if r.status_code != requests.codes.ok:
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raise RuntimeError("Error: post to %s with params %s failed", OMNIDRIVE_URL, PARAMS)
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def bumper():
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BUMPERURL = "http://" + IP + "/data/bumper"
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r = requests.get(url=BUMPERURL)
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if r.status_code == requests.codes.ok:
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data = r.json()
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return data["value"]
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else:
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raise RuntimeError("Error: post to %s with params %s failed", BUMPERURL, PARAMS)
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def distances():
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DISTANCE_URL = "http://" + IP + "/data/distancesensorarray"
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r = requests.get(url=DISTANCE_URL, params=PARAMS)
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if r.status_code == requests.codes.ok:
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data = r.json()
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return data
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def Camera():
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CAMURL = "http://" + IP + "/cam0"
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r = requests.get(url=CAMURL)
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while r.status_code != requests.codes.ok:
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r = requests.get(url=CAMURL)
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img = Image.open(BytesIO(r.content))
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return img
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def OdometryGet():
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ODOURL = "http://" + IP + "/data/odometry"
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r = requests.get(url=ODOURL)
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if r.status_code == requests.codes.ok:
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data = r.json()
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return [round(data[0], 1), round(data[1], 1)]
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else:
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raise RuntimeError("Error: post to %s with params %s failed", ODOURL, PARAMS)
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def InputKeyboard():
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while keyboard.is_pressed('w'):
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set_vel([2, 0, 0])
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while keyboard.is_pressed('a'):
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set_vel([0, 2, 0])
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while keyboard.is_pressed('s'):
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set_vel([-2, 0, 0])
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while keyboard.is_pressed('d'):
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set_vel([0, -2, 0])
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while keyboard.is_pressed('e'):
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set_vel([0.2, 2, 0])
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while keyboard.is_pressed('r'):
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set_vel([0.2, -2, 0])
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while keyboard.is_pressed('f'):
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set_vel([-2, 2, 0])
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while keyboard.is_pressed('g'):
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set_vel([-2, -2, 0])
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while keyboard.is_pressed('y'):
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set_vel([0,0,3])
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while keyboard.is_pressed('x'):
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set_vel([0,0,-3])
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set_vel([0, 0, 0])
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def main():
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signal.signal(signal.SIGINT, signal_handler)
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try:
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while False == bumper() and True == run:
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InputKeyboard()
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time.sleep(0.3)
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except Exception as e:
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print(e)
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return 1
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return 0
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if __name__ == "__main__":
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main()
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