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merge feature/atmega
2 parents 87095c5 + 427f1c9 commit 8dd5e6a

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+235
-35
lines changed

17 files changed

+235
-35
lines changed

‎.gitignore‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -70,7 +70,6 @@ Thumbs.db
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# Swap files
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*.swp
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73-
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# Python3 Virtual Environment folders
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bin/
@@ -94,3 +93,7 @@ photos/metadata.json
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# Uploaded updates folder
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updatePackages/
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# firmware
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firmware/
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‎atmega328p.py‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,65 @@
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# RPi PINOUTS
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# MOSI -> GPIO10
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# MISO -> GPIO9
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# SCK -> GPIO11
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# CE1 -> GPIO7
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# CE1 -> GPIO8
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# get the GPIO Library and SPI Library
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import spidev
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import time
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BAUDRATE_MAX = 250000
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BAUDRATE = 10000
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START = 0xff
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CMD_RESET = 0x00
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CMD_SET_DATA = 0x01
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CMD_GET_DATA = 0x02
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ADDR_AI_FIRST = 0x00
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ADDR_AI_LAST = 0x01
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ADDR_DI_FIRST = 0x02
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ADDR_DI_LAST = 0x05
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ADDR_DO_FIRST = 0x00
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ADDR_DO_LAST = 0x0a
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class ATMega328():
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_instance = None
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@classmethod
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def get_instance(cls):
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if cls._instance is None:
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cls._instance = ATMega328()
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return cls._instance
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def __init__(self):
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#Initialze the SPI
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self.spi = spidev.SpiDev()
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self.spi.open(0,0)
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self.spi.max_speed_hz = BAUDRATE_MAX
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def close(self):
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self.spi.close()
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def digitalWrite(self, addr, value):
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resp = self.spi.xfer([START, CMD_SET_DATA, addr, value, 0], BAUDRATE)
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def digitalRead(self, addr):
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resp = self.spi.xfer([START, CMD_GET_DATA, addr, 0, 0], BAUDRATE)
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return resp[3]
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def analogRead(self, addr):
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resp = self.spi.xfer([START, CMD_GET_DATA, addr, 0, 0], BAUDRATE)
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return resp[3]
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def get_input(self, addr):
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if addr >= ADDR_AI_FIRST and addr <= ADDR_AI_LAST:
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return self.analogRead(addr)
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elif addr >= ADDR_DI_FIRST and addr <= ADDR_DI_LAST:
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return self.digitalRead(addr)
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def set_output(self, addr, value):
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if addr >= ADDR_DO_FIRST and addr <= ADDR_DO_LAST:
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self.digitalWrite(addr, value)

‎audio.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -67,7 +67,7 @@ def __init__(self):
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#self._google_speech_client = speech.SpeechClient()
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def exit(self):
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pass
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pass
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# cleanup stuff.
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#self.stream_in.close()
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#self.pyaudio.terminate()

‎cnn_classifier.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -128,7 +128,7 @@ def detect_objects(self,
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ymax = int(min(imH,(boxes[i][2] * imH)))
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xmax = int(min(imW,(boxes[i][3] * imW)))
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131-
object_name = self._labels[int(classes[i])]
131+
object_name = self._labels[int(classes[i])+1]
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pairs.append((object_name, int(100*scores[i]), (xmin, ymin, xmax, ymax)))
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pairs = sorted(pairs, key=lambda x: x[1], reverse=True)[:top_results]

‎cnn_models/models.json‎

Lines changed: 19 additions & 25 deletions
Original file line numberDiff line numberDiff line change
@@ -1,26 +1,20 @@
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{
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"base_high_slow": {
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"output_layer": "final_result",
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"image_width": 224,
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"status": 1,
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"image_height": 224
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},
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"base_low_fast": {
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"output_layer": "final_result",
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"image_width": 224,
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"status": 100,
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"image_height": 224
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},
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"object_detect": {
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"output_layer": "final_result",
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"image_width": 224,
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"status": 1,
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"image_height": 224
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},
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"object_detect_mobile": {
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"output_layer": "final_result",
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"image_width": 224,
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"status": 1,
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"image_height": 224
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}
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}
2+
"generic_fast_low": {
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"status": 1.0,
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"image_height": "224",
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"image_width": "224",
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"output_layer": ""
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},
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"generic_slow_high": {
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"status": 1.0,
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"image_height": "224",
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"image_width": "224",
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"output_layer": ""
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},
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"generic_object_detect": {
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"status": 1.0,
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"image_height": "224",
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"image_width": "224",
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"output_layer": ""
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}
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}

‎coderbot.py‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -215,6 +215,12 @@ def _servo_control(self, pin, angle):
215215
self.pi.set_PWM_frequency(pin, 50)
216216
self.pi.set_PWM_dutycycle(pin, duty)
217217

218+
def _dc_enc_motor(self, speed_left=100, speed_right=100, time_elapse=0, target_distance=0):
219+
self._twin_motors_enc.control(power_left=speed_left,
220+
power_right=speed_right,
221+
time_elapse=time_elapse,
222+
target_distance=target_distance)
223+
218224
def stop(self):
219225
self._twin_motors_enc.stop()
220226

@@ -262,8 +268,3 @@ def restart(self):
262268
def reboot(self):
263269
os.system('sudo reboot')
264270

265-
def _dc_enc_motor(self, speed_left=100, speed_right=100, time_elapse=0, target_distance=0):
266-
self._twin_motors_enc.control(power_left=speed_left,
267-
power_right=speed_right,
268-
time_elapse=time_elapse,
269-
target_distance=target_distance)

‎data/defaults/programs/program_demo_io_ext.json‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
{"name": "test_io_ext", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</variable></variables><block type=\"controls_whileUntil\" id=\"Dl?:_j0SBuhadu{w@UF.\" x=\"228\" y=\"37\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"pJCxtUhR_b%x:dTqn9md\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+v#-(`(Qm]QpW/]^kj=k\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field><value name=\"VALUE\"><block type=\"coderbot_atmega_get_input\" id=\"ai)*,59_NZc9svsP|JM:\"><field name=\"INPUT\">0</field></block></value><next><block type=\"text_print\" id=\"QtWQNQO[-l[BZ~e`Qmh$\"><value name=\"TEXT\"><block type=\"text_join\" id=\"1Ukw}Lu=x]S?%jKwDJJV\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"Y9wE(=ZJTe,Y=7yA$1+2\"><field name=\"TEXT\">Analog Input 1: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"4QrPsC2-~_VL]6GoH_*O\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value></block></value><next><block type=\"controls_if\" id=\"le3Rmn/8;oI#ps$J,7la\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"pm_-a@W30t?pU$DT9!sX\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"IrfeoxR,w1!`9%NW+elg\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"R4b=e-`S!g*H6T7B1nel\"><field name=\"NUM\">100</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_atmega_set_output\" id=\"yvJ,i1lZv!^Q~}#Co+-i\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"Peb+]}4!:tv}p4J_B9]z\"><field name=\"BOOL\">TRUE</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_atmega_set_output\" id=\"z/@VGWnrW3D(x,d1SZ^y\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$yU!z^ZFMBh!(m7s,9*:\"><field name=\"BOOL\">FALSE</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "Analog_Input_1 = None\n\n\nwhile True:\n get_prog_eng().check_end()\n Analog_Input_1 = get_atmega().get_input(0)\n get_cam().set_text('Analog Input 1: ' + str(Analog_Input_1))\n if Analog_Input_1 > 100:\n get_atmega().set_output(0, True)\n else:\n get_atmega().set_output(0, False)\n", "default": false}

‎data/defaults/programs/program_test_input.json‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
{"name": "test_input", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"Eg+_}I*|KDj2r:7;lzVu\" x=\"16\" y=\"109\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"vjj7Y31uCw@dAO#:o!z=\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"|Oml,Wc+N7-.yv1S4tti\"><value name=\"TEXT\"><block type=\"text_join\" id=\"_:R_VIq+*$|i?`gYssJ/\"><mutation items=\"6\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"]Ohyg]}FmQVhZ6z;]H59\"><field name=\"TEXT\">analog 1: </field></block></value><value name=\"ADD1\"><block type=\"coderbot_atmega_get_input\" id=\"c-@JnZzRduznZ!.oS2C4\"><field name=\"INPUT\">0</field></block></value><value name=\"ADD2\"><block type=\"text\" id=\"vJK8H/$_C*KFm)w=^mc!\"><field name=\"TEXT\"> analog 2: </field></block></value><value name=\"ADD3\"><block type=\"coderbot_atmega_get_input\" id=\"!y:zHIM%S^5yuAl@{d*x\"><field name=\"INPUT\">1</field></block></value><value name=\"ADD4\"><block type=\"text\" id=\"qB~`8GzOl^}ynUI1ycwT\"><field name=\"TEXT\"> digital 1: </field></block></value><value name=\"ADD5\"><block type=\"coderbot_atmega_get_input\" id=\"tVz][Ed:A#XFy]shvSRk\"><field name=\"INPUT\">2</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(''.join([str(x) for x in ['analog 1: ', get_atmega().get_input(0), ' analog 2: ', get_atmega().get_input(1), ' digital 1: ', get_atmega().get_input(2)]]))\n", "default": false}

‎data/defaults/programs/program_test_output.json‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
{"name": "test_output", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"Eg+_}I*|KDj2r:7;lzVu\" x=\"16\" y=\"109\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"vjj7Y31uCw@dAO#:o!z=\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_output\" id=\"FWQt#G1gxXgvCXg_pJSD\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"OX}R-$-yxOonk~1)~V@8\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\"hn*rWB|=?5VdK=9d#~Q,\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"X4z;@`hR!z6Wr,]?mr!8\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"%gGkLCH-,tpv8-Cvh@m9\"><field name=\"OUTPUT\">1</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$WPv~h)tka4-4ac)B;d-\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\";V5!M5]]T8qq|j`Bdl|h\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Z-fZi_u%ISNl3D/?Cy_Q\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"]S_7t8;yoT6_vto%_^]#\"><field name=\"OUTPUT\">2</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"6a*oNkOM`1fbClSoMAu)\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\"!ki0*0*T,b5Gr9ZweOAH\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"jcQPERvz]3Ax}+(PFIJ~\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"9Tmmbu4g;%4U%NN}6^*~\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"l8J8y%;Lq(j-2c7|]-Dx\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"]sK==U]48RmtmtEQeYo.\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"QLzo=Bik,6*oygOtmi(;\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"XF@xS7zgaWl(,^hup`qP\"><field name=\"OUTPUT\">1</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"x5axsrx_%hM(@MP1O??0\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"3_fx6eK)|8mP1ubjFfZq\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HQ4:!?6-V41HAQaJCxtr\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"CURTVoSTK_`uN%{,/cVc\"><field name=\"OUTPUT\">2</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"`qobZ6#VrlWZlrz:I_yn\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"V[cnM=e?S(c{9U1;d$hB\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"BU7nnRfsY/UXGOT4%Cdy\"><field name=\"NUM\">0.1</field></block></value></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_atmega().set_output(0, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(1, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(2, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(0, False)\n get_bot().sleep(0.1)\n get_atmega().set_output(1, False)\n get_bot().sleep(0.1)\n get_atmega().set_output(2, False)\n get_bot().sleep(0.1)\n", "default": false}

‎data/defaults/programs/program_test_sonars.json‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
{"name": "test_sonars", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"68\" y=\"148\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"text_join\" id=\"HA#?-0mP[+$WL+So^l5J\"><mutation items=\"6\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"E%5LX*8^Gl-$lv$UIWBv\"><field name=\"TEXT\">Front: </field></block></value><value name=\"ADD1\"><block type=\"coderbot_sonar_get_distance\" id=\"9Mw8Ob~`;a.l/tw}fui`\"><field name=\"SONAR\">0</field></block></value><value name=\"ADD2\"><block type=\"text\" id=\"{xub0XYN;{o:+?BqYjz:\"><field name=\"TEXT\"> Right: </field></block></value><value name=\"ADD3\"><block type=\"coderbot_sonar_get_distance\" id=\"c~T`mQ}cq/AzVk|=_;k#\"><field name=\"SONAR\">1</field></block></value><value name=\"ADD4\"><block type=\"text\" id=\"{oo.?}O~rUC7|]Q9Wu0[\"><field name=\"TEXT\"> Left: </field></block></value><value name=\"ADD5\"><block type=\"coderbot_sonar_get_distance\" id=\"}`5RPkPB/|v%D;^Gc1WM\"><field name=\"SONAR\">2</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(''.join([str(x) for x in ['Front: ', get_bot().get_sonar_distance(0), ' Right: ', get_bot().get_sonar_distance(1), ' Left: ', get_bot().get_sonar_distance(2)]]))\n", "default": false}

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