同ブログ関連記事：【Raspberry Pi ロボットカー回路図】
動画
スマホ画面
.png)
http://192.168.1.11:8000（個人環境）
パソコン・スマホのWebブラウザからカメラ画像表示と走行・移動式カメラコントロールボタン。
移動式カメラコントロールボタン
上[^^^] 下[vvv] 左[<<<] 右[>>>]
■WebIOPi起動
sudo systemctl start webiopi
http://192.168.1.11:8000（個人環境）
ログイン ID : webiopi
パスワード :raspberry
■動画ストリーミングソフトウェアの起動
cd mjpg-streamer
sudo ./mjpg_streamer -i "./input_uvc.so -f 10 -r 320x240 -d /dev/video0 -y -n" -o "./output_http.so -w ./www -p 8080"
■WebIOPi停止
sudo systemctl stop webiopi
プログラム
WebIOPi サービスの設定の変更
sudo nano /etc/webiopi/config
#myscript = /home/pi/webiopi/examples/scripts/macros/script.py
myscript = /home/pi/webiopi/wcar4.py
#doc-root = /home/pi/webiopi/examples/scripts/macros
doc-root = /home/pi/webiopi/
#welcome-file = index.html
welcome-file = wcar4.html
pwm0 = PCA9685
wcar4.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import webiopi
from webiopi import deviceInstance
webiopi.setDebug()
GPIO = webiopi.GPIO
pwm0 = deviceInstance("pwm0")
v = -45
h = -45
pwm0.pwmWriteAngle(0,h )
pwm0.pwmWriteAngle(1,v)
class DCMotor:
_pin1 = 0
_pin2 = 0
def __init__(self, pin1, pin2):
self._pin1 = pin1
self._pin2 = pin2
GPIO.setFunction( self._pin1, GPIO.PWM )
GPIO.setFunction( self._pin2, GPIO.PWM )
def __del__(self):
self.write(0.0) # stop
def write(self, ratio):
if 1.0 < ratio: # saturation
ratio = 1.0
if -1.0 > ratio: # saturation
ratio = -1.0
if 0.01 > ratio and -0.01 < ratio: # stop
GPIO.pwmWrite(self._pin1, 0.0)
GPIO.pwmWrite(self._pin2, 0.0)
elif 0 < ratio: # Normal rotation
GPIO.pwmWrite(self._pin1, ratio)
GPIO.pwmWrite(self._pin2, 0.0)
else: # Reverse rotation
GPIO.pwmWrite(self._pin1, 0.0)
GPIO.pwmWrite(self._pin2, -ratio)
g_motorL = DCMotor( 5, 12) # Left motor
g_motorR = DCMotor( 6, 13) # Right motor
g_strMode = "0" # Drive mode. GUI default mode = "0"(stop)
g_fRatio = int("5") * 0.05 # PWM Ratio. GUI default level = "5"
@webiopi.macro
def ChangeDriveMode( strMode ):
webiopi.debug("ChangeDriveMode( %s )" % (strMode))
global g_strMode
g_strMode = strMode
iMode = int(strMode)
if 0 == iMode:
webiopi.debug("Mode : Stop")
g_motorL.write(0.0)
g_motorR.write(0.0)
elif 1 == iMode:
webiopi.debug("Mode : Forward")
g_motorL.write(g_fRatio)
g_motorR.write(g_fRatio)
elif 2 == iMode:
webiopi.debug("Mode : Backward")
g_motorL.write(-g_fRatio)
g_motorR.write(-g_fRatio)
elif 3 == iMode:
webiopi.debug("Mode : CW")
g_motorL.write( g_fRatio)
g_motorR.write(-g_fRatio)
elif 4 == iMode:
webiopi.debug("Mode : CCW")
g_motorL.write(-g_fRatio)
g_motorR.write( g_fRatio)
elif 5== iMode:
webiopi.debug("Mode : U")
global v
if v > -85:
v -= 5
pwm0.pwmWriteAngle(1, v)
elif 6 == iMode:
webiopi.debug("Mode : D")
global v
if v < 0:
v += 5
pwm0.pwmWriteAngle(1, v)
elif 7== iMode:
webiopi.debug("Mode : L")
global h
if h > -85:
h -= 5
pwm0.pwmWriteAngle(0, h)
elif 8 == iMode:
webiopi.debug("Mode : R")
global h
if h < 0:
h += 5
pwm0.pwmWriteAngle(0,h)
@webiopi.macro
def ChangeVoltageLevel( strLevel ):
webiopi.debug("ChangeVoltageLevel( %s )" % (strLevel))
global g_fRatio
g_fRatio = int(strLevel) * 0.05
# ratio = level * 0.05 : level=10 -> ratio=0.5 -> InputVoltage=2.5[V](When VM=5[V]).
webiopi.debug("Ratio : %f" % (g_fRatio))
ChangeDriveMode( g_strMode )
wcar4.html
<!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 http-equiv="Content-Style-Type" content="text/css">
<title>tank controller</title>
<script type="text/javascript" src="/webiopi.js"></script>
<script type="text/javascript">
webiopi().ready( function()
{ // Initialize
drive( 0 );
vlevel( 5 );
} );
function drive(mode)
{ // Change drive mode. 0 : Stop, 1 : Forward, 2 : Backward, 3 : CW, 4 : CCW , 5 : U , 6 : D , 7 : L , 8 : R
webiopi().callMacro( "ChangeDriveMode", mode );
}
function vlevel(level)
{ // Change Voltage Level.
webiopi().callMacro( "ChangeVoltageLevel", level);
}
</script>
</head>
<body>
<div align="center">
<img src="http://192.168.1.11:8080/?action=stream" />
<table border="1">
<tbody>
<tr>
<td align="center" width="100" height="100">
<form><input type="button" value="^^^" onclick="drive(5)" data-role="none"></form>
</td>
<td align="center" width="100" height="100">
<form><input type="button" value="GoGo" onclick="drive(1)" data-role="none"></form>
</td>
<td align="center" width="100" height="100">
<form><input type="button" value="vvv" onclick="drive(6)" data-role="none"></form>
</td>
</tr>
<tr>
<td align="center" width="100" height="100">
<form><input type="button" value="Left" onclick="drive(4)" data-role="none"></form>
</td>
<td align="center" width="100" height="100">
<form><input type="button" value="Stop" onclick="drive(0)" data-role="none"></form>
</td>
<td align="center" width="100" height="100">
<form><input type="button" value="Right" onclick="drive(3)" data-role="none"></form>
</td>
</tr>
<tr><td align="center" width="100" height="100">
<form><input type="button" value="<<<" onclick="drive(7)" data-role="none"></form>
</td>
<td align="center" width="100" height="100">
<form><input type="button" value="Back" onclick="drive(2)" data-role="none"></form>
</td>
<td align="center" width="100" height="100">
<form><input type="button" value=">>>" onclick="drive(8)" data-role="none"></form>
</td>
</tr>
</tbody>
</table>
</div>
<p align="center">voltage level</p>
<div align="center">
<form>1
<input type="radio" name="vl" onclick="vlevel(1)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(2)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(3)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(4)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(5)" data-role="none" checked>
<input type="radio" name="vl" onclick="vlevel(6)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(7)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(8)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(9)" data-role="none">
<input type="radio" name="vl" onclick="vlevel(10)" data-role="none">
10</form>
</div>
</body>
</html
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