Works with wonkus and wallace now

Author: lukas

drive.py

@@ -206,13 +206,13 @@ def setSpeed():
 
 	return ''
 
-@app.route('/img')
+@app.route('/latest.jpg')
 def latest():
-	img_num = request.args.get('i')
-	if img_num is None:
-		filename = 'images/latest_img.jpg'
-	else:
-		filename = 'images/img'+img_num+'.jpg'
+#	img_num = request.args.get('i')
+#	if img_num is None:
+	filename = 'images/latest_img.jpg'
+#	else:
+#		filename = 'images/img'+img_num+'.jpg'
 
 	return send_file(filename, mimetype='image/jpg')
 

drive_safe.py

@@ -18,8 +18,8 @@ def do(cmd):
 
 GPIO.setmode(GPIO.BCM)
 
-TRIG = [23, 5, 22]
-ECHO = [24, 6, 27]
+TRIG = [23, 17, 22]
+ECHO = [24, 18, 27]
 
 
 def setup():
@@ -156,7 +156,7 @@ def right(speed, dur):
 
 
 def getAttention():
-        with open('../python-mindwave-mobile/ATTENTION', 'r') as f:
+        with open('../python-mindave-mobile/ATTENTION', 'r') as f:
             read_data = f.read()
             print("Read Speed: " + read_data)
 
@@ -180,59 +180,59 @@ def getAttention():
 maxTurnCount = 3;
 
 while(1==1):
-    while True:
-        s = getAttention();
-        print "Speed "+str(s)
-        if s > 0:
-            break
-        setSpeed(0)
-        time.sleep(0.2)
+	print("driving!")
+
+#	while True:
+#		s = getAttention();
+#        print "Speed "+str(s)
+#        if s > 0:
+#            break
+#        setSpeed(0)
+#        time.sleep(0.2)
 
-    mind = 1000
-    d=[]
-
-    for i in range(3):
-        d.append( distance(i));
-        if d[i] < mind:
-            mind = d[i]
-        print(d[i]);
-
-    #print(d)
-    #print("Min d " + str(mind))
-
-    if (mind<6 and stopped==True and turning==True):
-        do('echo "backing up." | flite ')
-        backward(100, 1);
-    elif (turnCount > maxTurnCount):
-        do('echo "backing up." | flite ')
-        backward(100, 1);
-        turnCount = 0;
-    elif (mind>=THRESH and stopped==True):
-        stopped=False;
-        turning = False;
-        gof();
-        turnCount = 0
-
-    elif (mind<THRESH and stopped==False):
-        stopped=True;
-    elif (mind<THRESH and stopped==True):
-
-        if (turning==False):
-            stop();
-            turning=True
-        else:
-            turnCount+=1
-
-        if d[2] > d[0]:
-            do('echo "turning left." | flite ')
-            left(100, 0.7);
-        else:
-            do('echo "turning right." | flite ')
-            right(100, 0.7);
-
-        time.sleep(0.3);
-        stopped=True
-    elif (turning==False):  # robot is moving happily
-    
-        newSpd = getAttention();
-        setSpeed(newSpd);
+	mind = 1000
+	d=[]
+
+	for i in range(3):
+		d.append( distance(i));
+		if d[i] < mind:
+			mind = d[i]
+		print(d[i]);
+
+	print(d)
+	print("Min d " + str(mind))
+
+	if (mind<6 and stopped==True and turning==True):
+		do('echo "backing up." | flite ')
+		backward(255, 1)
+	elif (turnCount > maxTurnCount):
+		do('echo "backing up." | flite ')
+		backward(255, 1);
+		turnCount = 0;
+	elif (mind>=THRESH and stopped==True):
+		stopped=False;
+		turning = False;
+		gof();
+		turnCount = 0
+	elif (mind<THRESH and stopped==False):
+		stopped=True;
+
+	elif (mind<THRESH and stopped==True):
+		if (turning==False):
+			stop();
+			turning=True
+		else:
+			turnCount+=1
+
+		if d[2] > d[0]:
+			do('echo "turning left." | flite ')
+			left(255, 0.5);
+		else:
+			do('echo "turning right." | flite ')
+			right(255, 0.5);
+
+		time.sleep(0.3);
+		stopped=True
+#	elif (turning==False):	# robot is moving happily
+		#newSpd = getAttention();
+		#setSpeed(newSpd);

image.py

@@ -20,7 +20,7 @@ def classify(n):
         do('echo "I\'m thinking." | flite')
 	do('cp /dev/shm/mjpeg/cam.jpg '+imageFile);
 	do('ln -f '+imageFile+' '+latestImage);
-	do('python run_and_parse_inception.py '+imageFile+ " " +dataFile)
+	do('bash run_and_parse_inception.sh '+imageFile+ " " +dataFile)
 
 	do('ln -f '+dataFile+' '+latestData);
 

run_and_parse_inception.py

@@ -9,12 +9,12 @@
 
 def do(cmd):
 	print(cmd)
-	p =subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+	p =subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
 	for line in p.stdout.readlines():
 		print line
 
 	retval = p.wait()
 
-do('( cd /home/pi/tensorflow && ./label_image --image=../robot/'+imageFile+' > ../robot/raw.output )' )
+do('( cd /home/pi/tensorflow && ./label_image --image=../robot/'+imageFile+' ) &> ../robot/raw.output ' )
 
-do('tail -5 ../robot/raw.output | tail -5 ../tensorflow/t | cut -d"]" -f2 | cut -d"(" -f1 > ' + dataFile)
+do('tail -5 raw.output | cut -d"]" -f2 | cut -d"(" -f1 > ' + dataFile)

run_and_parse_inception.sh

@@ -0,0 +1,4 @@
+#! /bin/bash
+
+( cd /home/pi/tensorflow && ./label_image --image=../robot/$1) &> ../robot/raw.output  
+tail -5 raw.output | cut -d"]" -f2 | cut -d"(" -f1 > $2

sonar.py

@@ -1,6 +1,13 @@
 import RPi.GPIO as GPIO
 import sys
 import time
+import atexit
+
+# recommended for auto-disabling motors on shutdown!
+def turnOffGPIO():
+	GPIO.cleanup()	
+
+atexit.register(turnOffGPIO)
 
 GPIO.setmode(GPIO.BCM)
 
@@ -40,5 +47,5 @@
 
 print "Distance:",distance,"cm"
 
-GPIO.cleanup()
+