Added files via upload

bot_movement.py

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+from gpiozero import Motor
+#from gpiozero.Pin import
+#import RPi.GPIO as GPIO
+from encoders import d_move, refresh
+
+ml = Motor(2, 3)
+mr = Motor(14, 15)
+ml.stop()
+mr.stop()
+"""
+I  am assuming that the initial location of the bot
+is facing upwards at 0,0
+the bot can make only 90 degree turns
+"""
+
+
+
+direction = 'n' # n,e,w,s for different locations that it is facing
+usfront = 20
+
+try:
+	# ADD SOMETHING TO DO WHEN US IS LESS THAN 5;
+    def forward():
+    	if usfront <= 5:
+            print "error"
+    	else:
+            ml.forward()
+            mr.forward()
+
+    def sstop():
+        ml.stop()
+        mr.stop()
+    def turn_left():
+        while d_move()[0] <= 20 and d_move()[1] <= 20:
+            ml.backward()
+            mr.forward()
+        sstop()
+        refresh()
+
+    def turn_right():
+        while d_move()[0] <= 20 and d_move()[1] <= 20:
+            ml.forward()
+            mr.backward()
+        sstop()
+        refresh()
+
+    def up():
+        look_up()
+        while d_move()[0] <= 20 and d_move()[1] <= 20:
+            forward()
+        sstop()
+        refresh()
+
+    def left():
+        look_left()
+        while d_move()[0] <= 20 and d_move()[1] <= 20:
+            forward()
+        sstop()
+        refresh()
+
+    def right():
+        look_right()
+        while d_move()[0] <= 20 and d_move()[1] <= 20:
+            forward()
+        sstop()
+        refresh()
+
+    def down():
+        look_down()
+        while d_move()[0] <= 20 and d_move()[1] <= 20:
+            forward()
+        sstop()
+        refresh()
+
+    def look_up():
+        global direction
+        if (direction == 'n'):
+            pass
+        elif (direction == 'e'):
+            turn_left()
+        elif (direction == 'w'):
+            turn_right()
+        elif (drection == 's'):
+            turn_left()
+	    turn_left()
+        direction = 'n'
+
+    def look_down():
+        global direction
+        if (direction == 'n'):
+            turn_left()
+            turn_left()
+        elif (direction == 'e'):
+            turn_right()
+        elif (direction == 'w'):
+            turn_left()
+        elif (drection == 's'):
+            pass
+        direction = 's'
+
+    def look_left():
+        global direction
+        if (direction == 'n'):
+            turn_left()
+        elif (direction == 'e'):
+            turn_left()
+            turn_left()
+        elif (direction == 'w'):
+            pass
+        elif (drection == 's'):
+            turn_right()
+        direction = 'w'
+
+    def look_right():
+        global direction
+        if (direction == 'n'):
+            turn_right()
+        elif (direction == 'e'):
+            pass
+        elif (direction == 'w'):
+            turn_left()
+            turn_left()
+        elif (drection == 's'):
+            turn_left()
+        direction = 'e'
+except KeyboardInterrupt:
+    print "cleaning"
+finally:
+    #GPIO.cleanup()
+    print"check it"

click_picture.py

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+import picamera
+
+camera = picamera.PiCamera()
+
+"""
+i need ultrasonic reading
+usfront, usleft, usright, usback
+if any are less than lets say 10cm click
+"""
+
+def click_picture(int k,int l):
+        camera.capture('img_%d_%d.jpg'%k %l)
+
+        #analysis of image

edging.py

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+import cv2
+import numpy as np
+
+def countArray(i, j):
+		counter=0
+		for row in range(i, i+m):
+			for column in range(j, j+n):
+				if(inputArray[i][j]==255):
+					counter+=1
+		return counter
+
+def edging(dir):
+	img = cv2.imread(dir, cv2.IMREAD_COLOR)
+	edges=cv2.Canny(img,100,200)
+	oppp=[]
+	for x in xrange(edges.shape[0]):
+		opp=[]
+		for y in xrange(edges.shape[1]):
+			opp.append(edges[x][y])
+			pass
+		oppp.append(opp)
+		pass
+	#Save image to storage with a pseudo-unique name
+	cv2.imwrite('img.png', edges)
+
+	#if the number of cells in inputArray having value 255 are greater than "K",then value is 1 in output
+	#here I am setting k=50
+	k=20
+	s01_=edges.shape[0]
+	s02_=edges.shape[1]
+	m=edges.shape[0]/10
+	n=edges.shape[1]/10
+
+	c=[]
+	inputArray=[]
+	#populating input array with random numbers 0 and 255 for testing purposes
+	for i in range (s01_):
+		for j in range (s02_):
+			c.append(edges[i][j])
+		inputArray.append(c)
+		c=[]
+	outputArrayRows=s01_/m
+	outputArrayColumns=s02_/n
+	outputArray=[[] for i in range (outputArrayColumns)]
+	for i in range (outputArrayRows):
+		for j in range (outputArrayColumns):
+			if countArray(i*m,j*n)>=k:
+				outputArray[i].append(1)
+			else:
+				outputArray[i].append(0)
+	return outputArray

encoders.py

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+import RPi.GPIO as gpio
+gpio.setmode(gpio.BCM)
+
+leften = 18
+righten = 17
+dps = 30/24  #distance per spoke
+gpio.setup(leften,gpio.IN)
+gpio.setup(righten,gpio.IN)
+counter_left = 0
+counter_right = 0
+c = 0
+a = 0
+def d_move():
+    while True:
+        global a
+        global c
+        global counter_left
+        global counter_right
+        b = a
+        d = c
+        a = gpio.input(leften)
+        c = gpio.input(righten)
+        if (a == 1 and b == 0):
+            counter_left += 1
+            #print "left counter "
+            #print counter_left
+        if (c == 1 and d == 0):
+            counter_right += 1
+            #print "right coutner "
+            #print counter_right
+        return [counter_left*dps, counter_right*dps]
+def refresh():
+    global a
+    global c
+    global counter_left
+    global counter_right
+    counter_left = 0
+    counter_right = 0
+    c = 0
+    a = 0

main.py

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+# RUN THIS SCRIPT AND THE REST WILL RUN THEMSELVES
+
+from sys import argv
+from traversal import mapping
+from edging import edging
+
+image_matrix = edging(argv[1]) # convert the picture into edges and return the sub_matrix
+x=0
+y=0
+# now i have the completed map of the room ready
+
+# add the ultrasonic sensors to find and save from obstacles.
+
+while True:
+	mapping(x,y,image_matrix)

ptest.py

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+import bot_movement as bm
+
+try:
+    bm.up()
+    print "turning left"
+    bm.turn_left()
+    print "turning right"
+    bm.turn_right()
+except KeyboardInterrupt:
+    print "cleaning ptest.py"
+finally:
+    print "done execution"