Initial Commit

GestureRecognition/HandRecognition.py

@@ -0,0 +1,15 @@
+from PIL import Image
+from PIL import ImageDraw
+
+img = Image.open('/Users/piv/Desktop/IMG_0818.png')
+
+# Create a new image of the cutout.
+blkimg = Image.new('1', (img.width, img.height)
+blkdraw = ImageDraw.Draw(blkimg)
+
+for i in range(1, img.width):
+	for j in range(1, img.height):
+		# getpixel returns tuple (r,g,b,a)
+		pixel = img.getpixel((i, j))
+		if (pixel[0]/pixel[1]) > 1.05 and (pixel[0]/pixel[1]) < 4:
+

MotorControl/ESC.py

@@ -0,0 +1,124 @@
+# This program will let you test your ESC and brushless motor.
+# Make sure your battery is not connected if you are going to calibrate it at first.
+# Since you are testing your motor, I hope you don't have your propeller attached to it otherwise you are in trouble my friend...?
+# This program is made by AGT @instructable.com. DO NOT REPUBLISH THIS PROGRAM... actually the program itself is harmful                                             pssst Its not, its safe.
+
+import os     #importing os library so as to communicate with the system
+import time   #importing time library to make Rpi wait because its too impatient 
+os.system ("sudo pigpiod") #Launching GPIO library
+time.sleep(1) # As i said it is too impatient and so if this delay is removed you will get an error
+import pigpio #importing GPIO library
+
+ESC=4  #Connect the ESC in this GPIO pin 
+
+pi = pigpio.pi();
+pi.set_servo_pulsewidth(ESC, 0) 
+
+max_value = 2000 #change this if your ESC's max value is different or leave it be
+min_value = 1000  #change this if your ESC's min value is different or leave it be
+print "For first time launch, select calibrate"
+print "Type the exact word for the function you want"
+print "calibrate OR manual OR control OR arm OR stop"
+
+def manual_drive(): #You will use this function to program your ESC if required
+    print "You have selected manual option so give a value between 0 and you max value"    
+    while True:
+        inp = raw_input()
+        if inp == "stop":
+            stop()
+            break
+		elif inp == "control":
+			control()
+			break
+		elif inp == "arm":
+			arm()
+			break	
+        else:
+            pi.set_servo_pulsewidth(ESC,inp)
+                
+def calibrate():   #This is the auto calibration procedure of a normal ESC
+    pi.set_servo_pulsewidth(ESC, 0)
+    print("Disconnect the battery and press Enter")
+    inp = raw_input()
+    if inp == '':
+        pi.set_servo_pulsewidth(ESC, max_value)
+        print("Connect the battery NOW.. you will here two beeps, then wait for a gradual falling tone then press Enter")
+        inp = raw_input()
+        if inp == '':            
+            pi.set_servo_pulsewidth(ESC, min_value)
+            print "Wierd eh! Special tone"
+            time.sleep(7)
+            print "Wait for it ...."
+            time.sleep (5)
+            print "Im working on it, DONT WORRY JUST WAIT....."
+            pi.set_servo_pulsewidth(ESC, 0)
+            time.sleep(2)
+            print "Arming ESC now..."
+            pi.set_servo_pulsewidth(ESC, min_value)
+            time.sleep(1)
+            print "See.... uhhhhh"
+            control() # You can change this to any other function you want
+            
+def control(): 
+    print "I'm Starting the motor, I hope its calibrated and armed, if not restart by giving 'x'"
+    time.sleep(1)
+    speed = 1500    # change your speed if you want to.... it should be between 700 - 2000
+    print "Controls - a to decrease speed & d to increase speed OR q to decrease a lot of speed & e to increase a lot of speed"
+    while True:
+        pi.set_servo_pulsewidth(ESC, speed)
+        inp = raw_input()
+        
+        if inp == "q":
+            speed -= 100    # decrementing the speed like hell
+            print "speed = %d" % speed
+        elif inp == "e":    
+            speed += 100    # incrementing the speed like hell
+            print "speed = %d" % speed
+        elif inp == "d":
+            speed += 10     # incrementing the speed 
+            print "speed = %d" % speed
+        elif inp == "a":
+            speed -= 10     # decrementing the speed
+            print "speed = %d" % speed
+        elif inp == "stop":
+            stop()          #going for the stop function
+            break
+        elif inp == "manual":
+            manual_drive()
+            break
+		elif inp == "arm":
+			arm()
+			break	
+        else:
+            print "WHAT DID I SAID!! Press a,q,d or e"
+            
+def arm(): #This is the arming procedure of an ESC 
+    print "Connect the battery and press Enter"
+    inp = raw_input()    
+    if inp == '':
+        pi.set_servo_pulsewidth(ESC, 0)
+        time.sleep(1)
+        pi.set_servo_pulsewidth(ESC, max_value)
+        time.sleep(1)
+        pi.set_servo_pulsewidth(ESC, min_value)
+        time.sleep(1)
+        control() 
+        
+def stop(): #This will stop every action your Pi is performing for ESC ofcourse.
+    pi.set_servo_pulsewidth(ESC, 0)
+    pi.stop()
+
+#This is the start of the program actually, to start the function it needs to be initialized before calling... stupid python.    
+inp = raw_input()
+if inp == "manual":
+    manual_drive()
+elif inp == "calibrate":
+    calibrate()
+elif inp == "arm":
+    arm()
+elif inp == "control":
+    control()
+elif inp == "stop":
+    stop()
+else :
+    print "Thank You for not following the things I'm saying... now you gotta restart the program STUPID!!"

MotorControl/motor.py

@@ -2,22 +2,29 @@ import time
 
 from RPi import GPIO
 
-"""This module controls the Motor and Servo module.
+"""This module controls the Motor and Servo control.
 
 This module provides an interface for interacting with
 the motor on the Traxxas Slash using a Raspberry Pi
 3B+.
 """
 
+"""
+
+"""
 class MotorController:
-    def __init__(self, control_pin, frequency, duty_cycle=0):
+    def __init__(self, pin_number, frequency, duty_cycle=0):
         self._duty_cycle = duty_cycle
         self._operating_frequency = frequency
         self._running = False
+        self.pin_number = pin_number
+
+        # Pulse width was mentioned to be 6-7.2% by uni group.
 
         GPIO.setmode(GPIO.OUT)
-        GPIO.setup(self._control_pin, self._operating_frequency)
+        GPIO.setup(self.pin_number, self._operating_frequency)
-        self._control_pin = GPIO.PWM(control_pin, self._duty_cycle)
+        self._control_pin = GPIO.PWM(self.pin_number, self._duty_cycle)
+
 
     @property
     def duty_cycle(self):
@@ -28,6 +35,7 @@ class MotorController:
         if value > 0 and value < 100:
             self._duty_cycle = value
             # Change the current duty cycle of the GPIO.
+            self.control.changeDutyCycle
 
     def start(self):
         if self._running:
@@ -38,4 +46,33 @@ class MotorController:
     def stop(self):
         self._control_pin.stop()
 
+    def arm(self):
 
+class MotorDetails:
+    def __init__(self):
+
+    @property
+    def minDutyCycle(self):
+        return self._minDutyCycle
+    
+    @minDutyCycle.setter
+    def minDutyCycle(self, value):
+        self._minDutyCycle = value
+
+    @property
+    def maxDutyCycle(self):
+        return self._maxDutyCycle
+    
+    @maxDutyCycle.setter
+    def maxDutyCycle(self, value):
+        self._maxDutyCycle = value
+
+    @property
+    def idle(self):
+        return self._idle
+    
+
+
+max_reverse = 1000
+idle = 1500
+max_forward = 2000