# Basic Pi libraries import time from time import sleep import termios, fcntl, sys, os # For PWM import RPi.GPIO as GPIO from RPIO import PWM # For socket connections import socket # Set up pins # NOTE - THESE ARE BASED ON PI REVISION 2 GPIO PINOUTS PIN_RIGHT_POWER=7 # if this is on, then send power to the right tread PIN_RIGHT_DIRECTION=11 # if this is on, then relay for the right tread will be on (sending the tread into reverse) PIN_LEFT_POWER=13 # if this is on, then send power to the left tread PIN_LEFT_DIRECTION=15 # if this is on, then relay for the left tread will be on (sending the tread into reverse) # Initialize these GPIO pins as GPIO.OUT GPIO.setmode(GPIO.BOARD) GPIO.setup(7, GPIO.OUT) GPIO.setup(11, GPIO.OUT) GPIO.setup(13, GPIO.OUT) GPIO.setup(15, GPIO.OUT) # Initialize the servo library servo = PWM.Servo() # NOTE - the RPIO.PWM pin outs refer to the BCM GPIO layout numbers # See: http://www.hobbytronics.co.uk/raspberry-pi-gpio-pinout # Example: Pin 18 is actually BCM GPIO 24 on the Revision 2 Pi (5th from bottom on the right) # Initialize the servo position for gun pos=1500 # Define functions for pins # Turn on a pin def powerOn(pin): GPIO.output(pin, GPIO.HIGH) return # Turn off a pin def powerOff(pin): GPIO.output(pin, GPIO.LOW) # time.sleep(1) return # Fire the gun. NOTE - RPIO PWM uses the def fireGun(): # See note about about BCM GPIO pin servo.set_servo(23, 1800) sleep(0.5) servo.set_servo(23, 1000) return # Set the turret to a position using PWM def turretX(pos): servo.set_servo(24, pos) return # Set the right tread into forawrd mode def rightForward(): powerOff(PIN_RIGHT_DIRECTION) # time.sleep(0.5) sleep(0.5) return # Set the right tread into reverse mode def rightReverse(): powerOn(PIN_RIGHT_DIRECTION) sleep(0.5) return # Set the left tread into forward mode def leftForward(): powerOff(PIN_LEFT_DIRECTION) sleep(0.5) return # Set the left tread into reverse mode def leftReverse(): powerOn(PIN_LEFT_DIRECTION) sleep(0.5) return # Set both treads into forward mode def setForward(): rightForward() leftForward() sleep(0.5) return # Set both treads into reverse mode def setReverse(): rightReverse() leftReverse() sleep(0.5) return # Run both left and right motors (regardless of direction) def runMotors(): powerOn(PIN_LEFT_POWER) powerOn(PIN_RIGHT_POWER) return # Turn off treads def fullStop(): powerOff(PIN_LEFT_DIRECTION) powerOff(PIN_RIGHT_DIRECTION) powerOff(PIN_LEFT_POWER) powerOff(PIN_RIGHT_POWER) return # Move the treads forward def moveForward(duration=1): setForward() runMotors() return # Move the treads in reverse def moveReverse(duration=1): powerOn(PIN_RIGHT_DIRECTION) sleep(0.2) powerOn(PIN_LEFT_DIRECTION) sleep(0.2) powerOn(PIN_LEFT_POWER) powerOn(PIN_RIGHT_POWER) return # Turn the vehicle right def spinRight(duration=1): powerOn(PIN_RIGHT_DIRECTION) sleep(0.2) powerOff(PIN_LEFT_DIRECTION) sleep(0.2) powerOn(PIN_RIGHT_POWER) sleep(0.2) powerOn(PIN_LEFT_POWER) sleep(duration) fullStop() return # Turn the vehicle left def spinLeft(duration=1): powerOn(PIN_LEFT_DIRECTION) sleep(0.2) powerOff(PIN_RIGHT_DIRECTION) sleep(0.2) powerOn(PIN_LEFT_POWER) sleep(0.2) powerOn(PIN_RIGHT_POWER) sleep(duration) fullStop() return # SOCKET SET UP # We use TCP to communicate with the Pi s = socket.socket() # Create a socket object s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) # Keep the socket open to re-use host = '10.0.0.101' # The local IP address of your Pi. Run `ifconfig /all` to see your WiFi address port = 12345 # Reserve a port for your service. s.bind(('', port)) # Bind to the port and accept connections from anywhere s.listen(5) # Now wait for client connection, with a backlog queue size of 5 # Establish connection connection, address = s.accept() print "Got a connection from", address message = "Thanks for connecting to " + str(host) + " at port " + str(port) connection.send(message) # Use this to parse the data. # Our incoming data protocol comes first with a single capital letter signifying the type of command # It then comes with the value, whose ending is marked by a '|' # The '|' is necessary to prevent bunching together of network packets # For example: `Y1320|` tells the Pi that this is a 'Y' command (turret), set it to a value of 1320, and the '|' indicates end of this command # We need the '|' to demarcate the end of a command to prevent bunching together of data # For example, we might accidentally have commands like `Y1230X343` without the pipe, and the pi wouldn't know what to do with the command def parse_data(raw_data): pipe_pos = raw_data.find('|') command_key = raw_data[0] command_value = raw_data[1:pipe_pos] return [command_key, command_value] while True: # Read in data raw_data = connection.recv(1024).rstrip() # rstrip removes trailing spaces print "Received raw data of " + str(raw_data) data = parse_data(raw_data) # Y commands the turret angle if data[0] == "Y": print "Received Y direction for: " + str(data[1]) turretX(int(data[1])) # X commands the spin of the vehicle (left or right) elif data[0] == "X": if (float(data[1]) < 0): # negative, spin left print "Received LEFT X direction for: " + str(data[1]) spinLeft(abs(float(data[1]))) elif (float(data[1]) > 0): # positive, spin right print "Received RIGHT X direction for: " + str(data[1]) spinRight(abs(float(data[1]))) else: # Full stop print "received 0 X - full stop!" # fullStop() # F commands firing elif data[0] == "F": print "Received Firing command" fireGun() # W commands forward elif data[0] == "W": print "FORWARD" moveForward() # S commands reverse elif data[0] == "S": print "REVERSE" moveReverse() # P commands full-stop elif data[0] == "P": print "FULLSTOP" fullStop() else: print "No mapped command: (Key/Value) = " + str(data[0]) + "/" + str(data[1]) print 'Closed' connection.close()