Ashutosh
Published © GPL3+

Simple Pi Robot

Simple Pi Robot aims to put robot control in simple form.

BeginnerFull instructions provided1 hour6,062
Simple Pi Robot

Things used in this project

Hardware components

Raspberry Pi 1 Model B+
Raspberry Pi 1 Model B+
×1

Story

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Code

the robot control code

Python
from RPIO import PWM
import RPi.GPIO as GPIO
from RPIO import PWM
import RPi.GPIO as GPIO
import time
from time import sleep
from subprocess import call


GPIO.setmode(GPIO.BCM)

GPIO.setup(19,GPIO.OUT)
GPIO.setup(26,GPIO.OUT)
GPIO.setup(16,GPIO.OUT)
GPIO.setup(20,GPIO.OUT)
GPIO.setup(21,GPIO.IN)
GPIO.setup(8,GPIO.OUT)
GPIO.setup(27,GPIO.OUT)
GPIO.setup(9,GPIO.OUT)

TRIG=18
ECHO=17



print"controls"
print"1: move forward"
print"2: move reverse"
print"3: stop robot"
print"4: take picture with user defined name"
print"5: move forward with speed control"
print"6: Rotate the Robot"
print"7: Turn the Robot"
print"8: for servo control please"
print"11 : welcome to autonomous control"
print"press enter to send command"

def takestillpic(inp):
    print" please enter photo character"
    inp = raw_input()
    call ( ["raspistill -vf -hf -o " + str(inp) + ".jpg" ],shell=True )
    



def fwd():
    GPIO.output(19,True)
    GPIO.output(26,False)
    GPIO.output(16,True)
    GPIO.output(20,False)

def rev():
    GPIO.output(19,False)
    GPIO.output(26,True)
    GPIO.output(16,False)
    GPIO.output(20,True)

def stop():
    GPIO.output(19,False)
    GPIO.output(26,False)
    GPIO.output(16,False)
    GPIO.output(20,False)

def distmeas():
    print" Distance measurement in progress"

    GPIO.setup(TRIG,GPIO.OUT)
    GPIO.setup(ECHO,GPIO.IN)

    GPIO.output(TRIG,False)
    print" waiting for sensor to settle please"
    time.sleep(2)

    GPIO.output(TRIG,True)
    time.sleep(0.00001)
    GPIO.output(TRIG,False)

    while GPIO.input(ECHO)==0:
        pulse_start=time.time()

    while GPIO.input(ECHO)==1:
        pulse_end=time.time()


    pulse_duration = pulse_end - pulse_start

    distance = pulse_duration * 17150

    distance = round(distance,2)

    print " Distance ", distance, "cm"

    if distance < 50 :
           GPIO.output(19,False)
           GPIO.output(26,False)
           GPIO.output(16,False)
           GPIO.output(20,False)
       
           time.sleep(1)
           print " robot stopped as distance is less"
           print " Now Robot going Backward"
           GPIO.output(19,False)
           GPIO.output(26,True)
           GPIO.output(16,False)
           GPIO.output(20,True)
       
           time.sleep(1)
           GPIO.output(19,False)
           GPIO.output(26,False)
           GPIO.output(16,False)
           GPIO.output(20,False)

           TLr()
           time.sleep(4)
           fwd()
           distmeas()
           
           
    else:
         distmeas()
         
           
    
    

def TL():
    GPIO.output(19,True)
    GPIO.output(26,False)
    GPIO.output(16,False)
    GPIO.output(20,False)
def TLr():
    GPIO.output(19,True)
    GPIO.output(26,False)
    time.sleep(0.75)
    GPIO.output(19,False)
    GPIO.output(26,False)


while True:
    inp= raw_input()
    if inp =="1":
        fwd()
        
        print"robot moving in fwd direction"
        
        
    
    elif inp =="2":
        rev()
        print"robot moving in rev direction"
    elif inp=="3":
        stop()
        
    
        print"robot stopped"

    elif inp =="4":
          takestillpic(inp)
          print " photo please"  
          
        
          
          
        
    elif inp =="5":
        GPIO.output(7,False)
        GPIO.output(8,False)

    elif inp =="6":
         TL()
    elif inp =="7":
         TLr()
    elif inp =="8":
         servo = PWM.Servo()
         servo.set_servo(27,1000)
         time.sleep(2)
         servo.stop_servo(27)
    elif inp =="9":
         servo = PWM.Servo()
         servo.set_servo(27,1500)
         time.sleep(2)
         servo.stop_servo(27)
    elif inp =="10":
         servo = PWM.Servo()
         servo.set_servo(27,2000)
         time.sleep(2)
         servo.stop_servo(27)
    elif inp == "11":
         
         fwd()
         distmeas()
         

GPIO.cleanup()

Credits

Ashutosh

Ashutosh

3 projects • 11 followers
Interested in Robotics

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