From 0c8c9ad976879f7c90f9915a60845ccb0cdb337d Mon Sep 17 00:00:00 2001
From: manuel <manuel@mausz.at>
Date: Wed, 25 Dec 2013 13:25:16 +0100
Subject: initial commit

---
 examples/magpi-9-cambot/cambot.py  | 139 +++++++++++++++++++++++++++++++++++++
 examples/magpi-9-cambot/index.html |  70 +++++++++++++++++++
 examples/magpi-9-cambot/stream.sh  |  11 +++
 3 files changed, 220 insertions(+)
 create mode 100644 examples/magpi-9-cambot/cambot.py
 create mode 100644 examples/magpi-9-cambot/index.html
 create mode 100755 examples/magpi-9-cambot/stream.sh

(limited to 'examples/magpi-9-cambot')

diff --git a/examples/magpi-9-cambot/cambot.py b/examples/magpi-9-cambot/cambot.py
new file mode 100644
index 0000000..ed2e499
--- /dev/null
+++ b/examples/magpi-9-cambot/cambot.py
@@ -0,0 +1,139 @@
+# Imports
+import webiopi
+
+# Retrieve GPIO lib
+GPIO = webiopi.GPIO
+
+# -------------------------------------------------- #
+# Constants definition                               #
+# -------------------------------------------------- #
+
+# Left motor GPIOs
+L1=9  # H-Bridge 1
+L2=10 # H-Bridge 2
+LS=11 # H-Bridge 1,2EN
+
+# Right motor GPIOs
+R1=23 # H-Bridge 3
+R2=24 # H-Bridge 4
+RS=25 # H-Bridge 3,4EN
+
+# -------------------------------------------------- #
+# Convenient PWM Function                            #
+# -------------------------------------------------- #
+
+# Set the speed of two motors
+def set_speed(speed):
+    GPIO.pulseRatio(LS, speed)
+    GPIO.pulseRatio(RS, speed)
+
+# -------------------------------------------------- #
+# Left Motor Functions                               #
+# -------------------------------------------------- #
+
+def left_stop():
+    GPIO.output(L1, GPIO.LOW)
+    GPIO.output(L2, GPIO.LOW)
+
+def left_forward():
+    GPIO.output(L1, GPIO.HIGH)
+    GPIO.output(L2, GPIO.LOW)
+
+def left_backward():
+    GPIO.output(L1, GPIO.LOW)
+    GPIO.output(L2, GPIO.HIGH)
+
+# -------------------------------------------------- #
+# Right Motor Functions                              #
+# -------------------------------------------------- #
+def right_stop():
+    GPIO.output(R1, GPIO.LOW)
+    GPIO.output(R2, GPIO.LOW)
+
+def right_forward():
+    GPIO.output(R1, GPIO.HIGH)
+    GPIO.output(R2, GPIO.LOW)
+
+def right_backward():
+    GPIO.output(R1, GPIO.LOW)
+    GPIO.output(R2, GPIO.HIGH)
+
+# -------------------------------------------------- #
+# Macro definition part                              #
+# -------------------------------------------------- #
+
+def go_forward():
+    left_forward()
+    right_forward()
+
+def go_backward():
+    left_backward()
+    right_backward()
+
+def turn_left():
+    left_backward()
+    right_forward()
+
+def turn_right():
+    left_forward()
+    right_backward()
+
+def stop():
+    left_stop()
+    right_stop()
+    
+# -------------------------------------------------- #
+# Initialization part                                #
+# -------------------------------------------------- #
+
+# Setup GPIOs
+GPIO.setFunction(LS, GPIO.PWM)
+GPIO.setFunction(L1, GPIO.OUT)
+GPIO.setFunction(L2, GPIO.OUT)
+
+GPIO.setFunction(RS, GPIO.PWM)
+GPIO.setFunction(R1, GPIO.OUT)
+GPIO.setFunction(R2, GPIO.OUT)
+
+set_speed(0.5)
+stop()
+
+# -------------------------------------------------- #
+# Main server part                                   #
+# -------------------------------------------------- #
+
+
+# Instantiate the server on the port 8000, it starts immediately in its own thread
+server = webiopi.Server(port=8000, login="cambot", password="cambot")
+
+# Register the macros so you can call it with Javascript and/or REST API
+
+server.addMacro(go_forward)
+server.addMacro(go_backward)
+server.addMacro(turn_left)
+server.addMacro(turn_right)
+server.addMacro(stop)
+
+# -------------------------------------------------- #
+# Loop execution part                                #
+# -------------------------------------------------- #
+
+# Run our loop until CTRL-C is pressed or SIGTERM received
+webiopi.runLoop()
+
+# -------------------------------------------------- #
+# Termination part                                   #
+# -------------------------------------------------- #
+
+# Stop the server
+server.stop()
+
+# Reset GPIO functions
+GPIO.setFunction(LS, GPIO.IN)
+GPIO.setFunction(L1, GPIO.IN)
+GPIO.setFunction(L2, GPIO.IN)
+
+GPIO.setFunction(RS, GPIO.IN)
+GPIO.setFunction(R1, GPIO.IN)
+GPIO.setFunction(R2, GPIO.IN)
+
diff --git a/examples/magpi-9-cambot/index.html b/examples/magpi-9-cambot/index.html
new file mode 100644
index 0000000..db69b41
--- /dev/null
+++ b/examples/magpi-9-cambot/index.html
@@ -0,0 +1,70 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
+<html>
+<head>
+	<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
+	<meta name="viewport" content = "height = device-height, width = 420, user-scalable = no" /> 
+	<title>CamBot</title>
+	<script type="text/javascript" src="/webiopi.js"></script>
+	<script type="text/javascript">
+	function init() {
+		var button;
+			
+		button = webiopi().createButton("bt_up", "/\\", go_forward, stop);
+		$("#up").append(button);
+		
+		button = webiopi().createButton("bt_left", "<", turn_left, stop);
+		$("#middle").append(button);
+		
+		button = webiopi().createButton("bt_stop", "X", stop);
+		$("#middle").append(button);
+		
+		button = webiopi().createButton("bt_right", ">", turn_right, stop);
+		$("#middle").append(button);
+		
+		button = webiopi().createButton("bt_down", "\\/", go_backward, stop);
+		$("#down").append(button);
+	}
+	
+	function go_forward() {
+		webiopi().callMacro("go_forward");
+	}
+		
+	function go_backward() {
+		webiopi().callMacro("go_backward");
+	}
+		
+	function turn_right() {
+		webiopi().callMacro("turn_right");
+	}
+		
+	function turn_left() {
+		webiopi().callMacro("turn_left");
+	}
+		
+	function stop() {
+		webiopi().callMacro("stop");
+	}
+	
+	webiopi().ready(init);
+		
+	</script>
+	<style type="text/css">
+		button {
+			margin: 5px 5px 5px 5px;
+			width: 50px;
+			height: 50px;
+			font-size: 24pt;
+			font-weight: bold;
+			color: black;
+		}
+	</style>
+</head>
+<body>
+	<div id="content" align="center">
+		<img width="320" height="240" src="http://raspberrypi:8001/?action=stream"><br/>
+		<div id="up"></div>
+		<div id="middle"></div>
+		<div id="down"></div>
+	</div>
+</body>
+</html>
diff --git a/examples/magpi-9-cambot/stream.sh b/examples/magpi-9-cambot/stream.sh
new file mode 100755
index 0000000..12d6579
--- /dev/null
+++ b/examples/magpi-9-cambot/stream.sh
@@ -0,0 +1,11 @@
+#!/bin/sh
+
+STREAMER=mjpg_streamer
+DEVICE=/dev/video0
+RESOLUTION=320x240
+FRAMERATE=25
+HTTP_PORT=8001
+
+PLUGINPATH=/usr/local/lib
+
+$STREAMER -i "$PLUGINPATH/input_uvc.so -n -d $DEVICE -r $RESOLUTION -f $FRAMERATE" -o "$PLUGINPATH/output_http.so -n -p $HTTP_PORT"
-- 
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