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→Robot Code for Robot/Laptop Base Communication
import time
import time
import atexit
import atexit
import MPU9250
import sys
#---------------------------------------------------------
# create a default object, no changes to I2C address or frequency
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(addr=0x6f)
mh = Raspi_MotorHAT(addr=0x6f)
mpu9250 = MPU9250.MPU9250()
# auto-disabling motors on shutdown
# auto-disabling motors on shutdown
def turnOffMotors():
def turnOffMotors():
message_from_client = ''
message_from_client = ''
while (escape == True):
while (escape == True):
#temp = mpu9250.readTemperature()
#print ("temp = ", temp)
data = conn.recv(4096)
data = conn.recv(4096)
if not data: break
if not data: break
print ("Tx:" + message_from_client)
print ("Tx:" + message_from_client)
#receives a motor drive message
#receives a motor drive message
if message_from_client[:3] == "MOT":
if message_from_client[:3] == "ACC":
accel = mpu9250.readAccel()
#conn.send(message.encode())
#print ("ax = ", (accel['x']))
#print ("ay = ", (accel['y']))
#print ("az = ", (accel['z']))
message = ("Sys:A:" + str(accel['x']) +"," +str(accel['y']) +"," +str(accel['z']))
conn.send(message.encode())
elif message_from_client[:3] == "GYR":
gyro = mpu9250.readGyro()
#print ("gx = ", (gyro['x']))
#print ("gy = ", (gyro['y']))
#print ("gz = ", (gyro['z']))
message = ("Sys:G:" + str(gyro['x']) +"," +str(gyro['y']) +"," +str(gyro['z']))
conn.send(message.encode())
elif message_from_client[:3] == "MAG":
mag = mpu9250.readMagnet()
#print ("mx = ", (mag['x']))
#print ("my = ", (mag['y']))
#print ("mz = ", (mag['z']))
message = ("Sys:M:" + str(mag['x']) +"," +str(mag['y']) +"," +str(mag['z']))
conn.send(message.encode())
elif message_from_client[:3] == "MOT":
message = "RxAck:Engaging Motor Message"
message = "RxAck:Engaging Motor Message"
conn.send(message.encode())
conn.send(message.encode())