Initial push

2026-02-22 23:30:15 +01:00
commit 7a2d858dfb
58 changed files with 9896 additions and 0 deletions
@@ -0,0 +1,166 @@
+import RPi.GPIO as GPIO
+import threading
+import time
+import subprocess
+import os, signal, sys
+from pid_line_follow1 import *
+from AlphaBot2 import AlphaBot2
+from TRSensors import TRSensor
+
+
+Ab = AlphaBot2()
+
+IR = 17
+PWM = 50
+
+'''def move_and_stop(func, duration=0.5):
+	func()
+	time.sleep(duration)
+	Ab.stop()'''
+def setup_gpio():
+    """Initialisiert die GPIO-Pins."""
+    GPIO.setmode(GPIO.BCM)
+    GPIO.setwarnings(False)
+    GPIO.setup(IR, GPIO.IN)
+
+def getkey():
+	if GPIO.input(IR) == 0:
+		count = 0
+		while GPIO.input(IR) == 0 and count < 200:  #9ms
+			count += 1
+			time.sleep(0.00006)
+
+		if(count < 10):
+			#print("None returned")
+			return None
+		count = 0
+		while GPIO.input(IR) == 1 and count < 80:  #4.5ms
+			count += 1
+			time.sleep(0.00006)
+		#print("High-Burst-Length:", count)
+		if (count < 20):
+			#print("repeat returned")
+			return "repeat"
+
+		idx = 0
+		cnt = 0
+		data = [0,0,0,0]
+		for i in range(0,32):
+			count = 0
+			while GPIO.input(IR) == 0 and count < 15:    #0.56ms
+				count += 1
+				time.sleep(0.00006)
+				
+			count = 0
+			while GPIO.input(IR) == 1 and count < 40:   #0: 0.56mx
+				count += 1                               #1: 1.69ms
+				time.sleep(0.00006)
+				
+			if count > 7:
+				data[idx] |= 1<<cnt
+			if cnt == 7:
+				cnt = 0
+				idx += 1
+			else:
+				cnt += 1
+#		print data
+		if data[0]+data[1] == 0xFF and data[2]+data[3] == 0xFF:  #check
+			print("OK")
+			return data[2]
+	return None
+
+def stop_listener():
+    """
+    Deine Remote‑API muss hier so lange blocken, bis
+    ein Key‑Event eintrifft und dir den Code 0x43 liefert.
+    """
+    while True:
+        code = getkey()
+        if code == 0x43:
+            os.kill(os.getpid(), signal.SIGINT)
+            return
+
+setup_gpio()
+print('IRremote Test Start ...')
+Ab.stop()
+last_key = 0
+last_key_press_time = 0
+current_action = None
+try:
+	while True:
+		key = getkey()
+		# 0x43 == line_follow
+
+		if key == "repeat":
+			key = last_key
+			last_key_press_time = time.time()
+		elif key is not None:
+			print("getkey:")
+			print(hex(key))
+			last_key = key
+			last_key_press_time = time.time()
+
+		if key is not None:
+			last_key_press_time = time.time()
+
+			if key == 0x18 and current_action != "forward":
+				Ab.forward()
+				print("forward")
+				current_action = "forward"
+			elif key == 0x08 and current_action != "left":
+				Ab.left()
+				print("left")
+				current_action = "left"
+			elif key == 0x1c and current_action != "stop":
+				Ab.stop()
+				print("stop")
+				current_action = "stop"
+			elif key == 0x5a and current_action != "right":
+				Ab.right()
+				print("right")
+				current_action = "right"
+			elif key == 0x52 and current_action != "backward":
+				Ab.backward()
+				print("backward")
+				current_action = "backward"
+			elif key == 0x15:
+				if(PWM + 10 < 101):
+					PWM += 10
+					Ab.setPWMA(PWM)
+					Ab.setPWMB(PWM)
+					print("PWM:", PWM)
+			elif key == 0x07:
+				if(PWM - 10 > -1):
+					PWM -= 10
+					Ab.setPWMA(PWM)
+					Ab.setPWMB(PWM)
+					print("PWM:", PWM)
+			elif key == 0x43:
+				tr = TRSensor()
+				running = threading.Event()
+				process = subprocess.Popen(
+					["python", "pid_line_follow1.py"],
+				)
+				# follow_thread = threading.Thread(target=follow, args=(tr, Ab, running), daemon=True)
+				# follow_thread.start()
+				key = getkey()
+				while(key != 0x43):
+					key = getkey()
+
+				# running.set()
+				process.terminate()
+
+				Ab.setPWMA(PWM)
+				Ab.setPWMB(PWM)
+
+			time.sleep(0.05)
+
+		else:
+			if time.time() - last_key_press_time > 0.1 and current_action != "stop":
+				Ab.stop()
+				print("stopping bc no key is being pressed")
+				current_action = "stop"
+				
+except KeyboardInterrupt:
+	GPIO.cleanup()
+