Added files again

Author: tphanir

1.0/codes/auto.py

@@ -0,0 +1,54 @@
+import select
+import sys
+import tty
+import termios
+import serial
+import time
+import os
+
+# Initialize serial communication
+ser = serial.Serial("/dev/ttyUSB0", 57600, timeout=1)
+ser.flush()
+
+original_settings = termios.tcgetattr(sys.stdin)
+
+
+def get_key(timeout=0.1):
+    fd = sys.stdin.fileno()
+    try:
+        tty.setraw(fd)  # Set the terminal to raw mode
+        rlist, _, _ = select.select([sys.stdin], [], [], timeout)
+        if rlist:
+            ch = sys.stdin.read(1)  # Read one character
+        else:
+            ch = None  # No key pressed
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, original_settings)  # Restore terminal settings
+    return ch
+
+def send_stop():
+    ser.write(b'q\n')
+    print("Stopping")
+
+
+# Function to clear the terminal except for the first line
+def clear_terminal_but_first():
+    os.system('clear')
+    print("Press ESC to exit.")
+
+# Main loop to listen for key presses
+try:
+    print("Press ESC to exit.")
+
+    while True:
+        key = get_key()
+
+        if key == '\x1b':  # ESC key
+            ser.write(b'exit\n')
+            print("Exiting...")
+            break
+
+finally:
+    ser.close()
+    print("Serial connection closed.")
+

1.0/codes/control.py

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+import serial
+import time
+
+ser = serial.Serial("/dev/ttyUSB1", 57600, timeout=1)
+ser.flush()
+
+print('dir:')
+print('w - Front')
+print('a - Left')
+print('s - Back')
+print('d - Right')
+
+try:
+  while True:
+    data = input("Enter: <dir> <time>\n")
+
+    ser.write(data.encode())
+
+finally:
+  ser.close()

1.0/codes/controls/control.py

@@ -0,0 +1,116 @@
+#!/usr/bin/env python3
+
+import Jetson.GPIO as GPIO
+import time
+import serial
+
+right_motor_pins = [
+    (26, 20),
+    (12, 6),
+    (17, 18)    
+]
+
+left_motor_pins = [
+    (16, 19),
+    (8, 11),
+    (25, 9)
+]
+
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+ser = serial.Serial('/dev/ttyUSB0', 57600, timeout=1)
+
+for pin_pair in left_motor_pins + right_motor_pins: 
+    GPIO.setup(pin_pair[0], GPIO.OUT)
+    GPIO.setup(pin_pair[1], GPIO.OUT)
+
+def move_forward():
+    for pin1, pin2 in left_motor_pins + right_motor_pins:
+        GPIO.output(pin1, GPIO.HIGH)
+        GPIO.output(pin2, GPIO.LOW)
+
+def move_backward():
+    for pin1, pin2 in left_motor_pins + right_motor_pins:
+        GPIO.output(pin2, GPIO.HIGH)
+        GPIO.output(pin1, GPIO.LOW)
+
+def stop():
+    for pin1, pin2 in left_motor_pins + right_motor_pins:
+        GPIO.output(pin1, GPIO.LOW)
+        GPIO.output(pin2, GPIO.LOW)
+
+def rotate(angle, direction='left', time_constant=0.02):
+    rotation_time = angle * time_constant
+    
+    if direction == 'left':
+        for pin1, pin2 in left_motor_pins:
+            GPIO.output(pin1, GPIO.LOW)
+            GPIO.output(pin2, GPIO.HIGH)
+        
+        for pin1, pin2 in right_motor_pins:
+            GPIO.output(pin1, GPIO.HIGH)
+            GPIO.output(pin2, GPIO.LOW)
+
+    elif direction == 'right':
+        for pin1, pin2 in left_motor_pins:
+            GPIO.output(pin1, GPIO.HIGH)
+            GPIO.output(pin2, GPIO.LOW)
+        
+        for pin1, pin2 in right_motor_pins:
+            GPIO.output(pin1, GPIO.LOW)
+            GPIO.output(pin2, GPIO.HIGH)
+
+    time.sleep(rotation_time)
+    stop()
+
+def receive_data():
+    if ser.in_waiting > 0:
+        data = ser.readline().decode().strip()
+        return data
+
+def mov(direction, t):
+    try:
+        t = float(t)  # convert t to float in case of decimals
+        if direction == 'w':
+            move_forward()
+            time.sleep(t)
+        elif direction == 's':
+            move_backward()
+            time.sleep(t)
+        elif direction == 'a':
+            rotate(90, 'left')
+        elif direction == 'd':
+            rotate(90, 'right')
+        elif direction == 'q':
+            stop()
+        elif direction == 'rl':
+            rotate(t, 'left')
+        elif direction == 'rr':
+            rotate(t, 'right')
+            stop()
+            return
+        else:
+            print("Invalid command!")
+    except ValueError:
+        print("Error in time conversion.")
+    stop()
+'''
+try:
+    print('Manual Mode Started')
+    while True:
+        data = receive_data()
+        if data:
+            print(data)
+            try:
+                d, t = data.split(" ")
+                mov(d, t)
+            except ValueError:
+                print("Received malformed data: ", data)
+finally:
+    ser.close()
+    GPIO.cleanup()
+'''
+rotate(90, 'left')
+move_forward()
+time.sleep(10)
+stop()