tornado做树莓派车的遥控器

最近在做ios的一个东西，后端用的websocket

今天把树莓派的小车又翻出来了
使用tornode做了个遥控器，python的websocket和python的gpio，天生的好基友啊

调速度
http://bbs.elecfans.com/jishu_439995_1_1.html

http://www.geekfan.net/9926/
这个time.sleep(delay)来控制
比如

import RPi.GPIO as GPIO
import time

GPIO.setmode(GPIO.BCM)

enable_pin = 18
coil_A_1_pin = 4
coil_A_2_pin = 17
coil_B_1_pin = 23
coil_B_2_pin = 24

GPIO.setup(enable_pin, GPIO.OUT)
GPIO.setup(coil_A_1_pin, GPIO.OUT)
GPIO.setup(coil_A_2_pin, GPIO.OUT)
GPIO.setup(coil_B_1_pin, GPIO.OUT)
GPIO.setup(coil_B_2_pin, GPIO.OUT)

GPIO.output(enable_pin, 1)

def forward(delay, steps):  
  for i in range(0, steps):
    setStep(1, 0, 1, 0)
    time.sleep(delay)
    setStep(0, 1, 1, 0)
    time.sleep(delay)
    setStep(0, 1, 0, 1)
    time.sleep(delay)
    setStep(1, 0, 0, 1)
    time.sleep(delay)

def backwards(delay, steps):  
  for i in range(0, steps):
    setStep(1, 0, 0, 1)
    time.sleep(delay)
    setStep(0, 1, 0, 1)
    time.sleep(delay)
    setStep(0, 1, 1, 0)
    time.sleep(delay)
    setStep(1, 0, 1, 0)
    time.sleep(delay)

def setStep(w1, w2, w3, w4):
  GPIO.output(coil_A_1_pin, w1)
  GPIO.output(coil_A_2_pin, w2)
  GPIO.output(coil_B_1_pin, w3)
  GPIO.output(coil_B_2_pin, w4)

while True:
  delay = raw_input("Delay between steps (milliseconds)?")
  steps = raw_input("How many steps forward? ")
  forward(int(delay) / 1000.0, int(steps))
  steps = raw_input("How many steps backwards? ")
  backwards(int(delay) / 1000.0, int(steps))

tornode参看http://haoningabc.iteye.com/blog/2164973

apt-get install python-virtualenv
virtualenv tonado
. tornado/bin/activate
apt-get install python-dev
wget http://jaist.dl.sourceforge.net/project/raspberry-gpio-python/RPi.GPIO-0.5.8.tar.gz
2016年2月15日变为
wget http://jaist.dl.sourceforge.net/project/raspberry-gpio-python/RPi.GPIO-0.6.1.tar.gz
python setup.py install

root@raspberrypi:~# cat a.py 
#!/usr/bin/env python
import RPi.GPIO as GPIO
import curses
import time
from curses import wrapper
GPIO.setmode(GPIO.BCM)
GPIO.setup(27,GPIO.OUT)
GPIO.setup(18,GPIO.OUT)
GPIO.setup(22,GPIO.OUT)
GPIO.setup(23,GPIO.OUT)

stdscr=curses.initscr()
stdscr.clear()
while True:
    ch=stdscr.getkey()
    #time.sleep(0.001)
#调速度是这里吧，没测试
    if ch =='s':
        curses.endwin()
        GPIO.output(27,False)
        GPIO.output(18,False)
        GPIO.output(22,False)
        GPIO.output(23,False)
        break
    if ch == 'w':
        GPIO.output(27,False)
        GPIO.output(18,True)
        GPIO.output(22,False)
        GPIO.output(23,True)
    if ch == 'x':
        GPIO.output(27,True)
        GPIO.output(18,False)
        GPIO.output(22,True)
        GPIO.output(23,False)
    if ch == 'a':
        GPIO.output(27,False)
        GPIO.output(18,True)
        GPIO.output(22,False)
        GPIO.output(23,False)
    if ch == 'd':
        GPIO.output(27,False)
        GPIO.output(18,False)
        GPIO.output(22,False)
        GPIO.output(23,True)
root@raspberrypi:~#

这个ssh作为控制方向
http://blog.csdn.net/xukai871105/article/details/12684617
http://raspberry-gpio-python.googlecode.com
#----------------------------------------------------------------------------
tonardo的websocket作为遥控器
python aa.py

#!/usr/bin/python
#coding:utf-8
import os.path

import tornado.httpserver
import tornado.web
import tornado.ioloop
import tornado.options
import tornado.httpclient
import tornado.websocket

import json

import RPi.GPIO as GPIO
import time
#GPIO.setwarnings(False) 
#GPIO.setmode(GPIO.BCM)
#GPIO.setup(17,GPIO.OUT)
#GPIO.setup(18,GPIO.OUT)
#GPIO.setup(22,GPIO.OUT)
#GPIO.setup(23,GPIO.OUT)



class IndexHandler(tornado.web.RequestHandler):
    def get(self):
      self.render("index.html")

class SocketHandler(tornado.websocket.WebSocketHandler):
    """docstring for SocketHandler"""
    clients = set()

    @staticmethod
    def send_to_all(message):
        for c in SocketHandler.clients:
            c.write_message(json.dumps(message))

    def open(self):
#        GPIO.setwarnings(False) 
        GPIO.setmode(GPIO.BCM)
        GPIO.setup(17,GPIO.OUT)
        GPIO.setup(18,GPIO.OUT)
        GPIO.setup(22,GPIO.OUT)
        GPIO.setup(23,GPIO.OUT)
        self.write_message(json.dumps({
        'type': 'sys',
        'message': 'Welcome to WebSocket',
        }))
        SocketHandler.send_to_all({
        'type': 'sys',
        'message': str(id(self)) + ' has joined',
        })
        SocketHandler.clients.add(self)

    def on_close(self):
        SocketHandler.clients.remove(self)
        SocketHandler.send_to_all({
        'type': 'sys',
        'message': str(id(self)) + ' has left',
        })

    def on_message(self, message):
        if(message == 'w'):
            GPIO.output(17,False) 
            GPIO.output(18,True)
            GPIO.output(22,False)
            GPIO.output(23,True)
        elif(message == 'a'):
            GPIO.output(17,False)
            GPIO.output(18,True)
            GPIO.output(22,False)
            GPIO.output(23,False)
        elif(message == 'd'):
            GPIO.output(17,False)
            GPIO.output(18,False)
            GPIO.output(22,False)
            GPIO.output(23,True)
        elif(message == 's'):
            GPIO.output(17,True)
            GPIO.output(18,False)
            GPIO.output(22,True)
            GPIO.output(23,False)
        else:
            GPIO.output(17,False)
            GPIO.output(18,False)
            GPIO.output(22,False)
            GPIO.output(23,False)
            SocketHandler.send_to_all({
            'type': 'user',
            'id': id(self),
            'message': message,
            })
    
##MAIN
if __name__ == '__main__':
    app = tornado.web.Application(
      handlers=[
        (r"/", IndexHandler),
        (r"/chat", SocketHandler)
      ],
    debug = True,
    #  template_path = os.path.join(os.path.dirname(__file__), "templates"),
    #     static_path = os.path.join(os.path.dirname(__file__), "static")
    )
    app.listen(8000)
    tornado.ioloop.IOLoop.instance().start()

客户端
index.html

<html>
<head>
<script type="text/javascript">
var ws = new WebSocket("ws://192.168.0.112:8000/chat");
ws.onmessage = function(event) {
  console.log(event.data);
}
ws.onopen = function() {
        console.log('open');
};
ws.onclose = function() {
    console.log('Closed! ');
}
function sendto() {
  ws.send(document.getElementById('chat').value );
}
function send(str){
   ws.send(str); 
}
</script>
</head>

<body>
  <div>
    hello
    <input id="chat">
    <button  onclick="sendto()">send</button>
    <br/>
    <pre>
    <button  onclick="send('w')">up</button>
    <button  onclick="send('a')">left</button><button  onclick="send('d')">right</button>
    <button  onclick="send('s')">down</button>
    <button  onclick="send('x')">stop</button>                                                                                                                     
    </pre>
  </div>
</body>
</html>

python aa.py
http://192.168.0.112:8000

摄像头
http://liyao.me/raspberry-pi-wifi-camera/

tornado做树莓派车的遥控器

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