Merge branch 'master' into RoverFuncs

README.md

@@ -1,9 +1,34 @@
 # LYNCS-Noshiro2019 
-能代宇宙イベントのためのCanSatプログラム  
 [![Build Status](https://travis-ci.com/LYNCS-Keio/LYNCS-Noshiro2019.svg?branch=master)](https://travis-ci.com/LYNCS-Keio/LYNCS-Noshiro2019)
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/LYNCS-Keio/LYNCS-Noshiro2019.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/LYNCS-Keio/LYNCS-Noshiro2019/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/LYNCS-Keio/LYNCS-Noshiro2019.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/LYNCS-Keio/LYNCS-Noshiro2019/context:python)
+
+能代宇宙イベントのためのCanSatプログラム  
+
+```bash
+cd raspberry_pi
+```
+
+```bash
+sudo pigpio
+```
+```bash
+python3 main.py
+```
+で実行できる。
 # Dependencies
-- opencv-python
-- pynmea2
-- smbus2
-- pyserial
-- RPI.GPIO
+see [dependency graph](https://github.com/LYNCS-Keio/LYNCS-Noshiro2019/network/dependencies)
+# Installation
+pipenvでパッケージを再現できる。pipenvは次のコマンドでインストールできる。
+```bash
+pip install pipenv
+```
+パッケージのインストールには次のコマンドを使う。
+```bash
+pipenv install
+```
+パッケージの追加は次のようにしてできる。numpyをインストールする場合、
+```bash
+pipenv install numpy
+```
+のようにすればよい。

raspberry_pi/lib/BME280/ave.py

@@ -0,0 +1,16 @@
+# -*- coding: utf-8 -*-
+
+import core
+import time
+
+index = 1
+pressure_sum = 0
+
+try:
+    while True:
+        index += 1
+        pressure_sum += core.readData()[1]
+        time.sleep(0.001)
+
+finally:
+    print(pressure_sum / index)

raspberry_pi/lib/DammyBME/__init__.py

@@ -0,0 +1 @@
+from .core import *

raspberry_pi/lib/DammyBME/core.py

@@ -0,0 +1,48 @@
+# -*- coding: utf-8 -*-
+#!usr/bin/python
+
+import time
+
+__all__ = ['readData']
+
+def writeReg(reg_address, data):
+    pass
+
+
+def get_calib_param():
+    pass
+
+_dammy_bme_count = 0
+_ascend_descend_flag = False    ## False::上昇 True::降下
+_dammy_gravity = 0.2
+
+def readData():
+    global _dammy_bme_count
+    global _ascend_descend_flag
+    global _gnd_flag
+
+    mesure_high = _dammy_bme_count
+
+    if _ascend_descend_flag:
+        _dammy_bme_count -= _dammy_gravity
+
+    if not _ascend_descend_flag:
+        _dammy_bme_count += _dammy_gravity
+        if _dammy_bme_count >= 50:
+             _ascend_descend_flag = True
+
+    if _dammy_bme_count < 0:
+        _dammy_bme_count = 0
+
+    time.sleep(0.0005)
+    return [mesure_high, 0, 0]
+
+
+if __name__ == '__main__':
+    try:
+        while True:
+            print(readData())
+            time.sleep(0.01)
+
+    except KeyboardInterrupt:
+        pass

raspberry_pi/lib/capture/core.py

@@ -36,5 +36,5 @@ def __del__(self):
     ca = capture()
     time.sleep(2)
     stream = ca.cap()
-    ca.flush(stream)
+    ca.flush()
     del ca

raspberry_pi/lib/rover_gps/gpslist.py

@@ -4,7 +4,6 @@
 import os
 import time
 
-pos = [None, None]
 current_dir = os.path.dirname(os.path.abspath(__file__))
 
 index = 0

raspberry_pi/main.py

@@ -25,8 +25,8 @@
 current_dir = os.path.dirname(os.path.abspath(__file__))
 pi = pigpio.pi()
 pi.set_mode(PWM_pin, pigpio.OUTPUT)
-duty_lock = 68500
-duty_release = 62500
+duty_lock = 85000
+duty_release = 78500
 
 mpu = MPU6050.MPU6050(0x68)
 
@@ -41,7 +41,6 @@
 limit_bme = 10                              #BMEがn回範囲内になったらbreak
 
 bme_judge = RoverFuncs.BME_Judge()
-
 try:
     index = 0
     filename = 'cameralog' + '%04d' % index
@@ -62,7 +61,7 @@
 
         release_time = time.time()
         time.sleep(2)
-        while 1:
+        while True:
             height_BME = BME.readData()
             row = [time.time()]
             print(height_BME)
@@ -127,7 +126,7 @@
 
     with open(current_dir + '/' + filename + '.csv', 'w') as c:
         csv_writer = csv.writer(c, lineterminator='\n')
-        while 1:
+        while True:
             pi.hardware_PWM(pinL, 50, int(dL))
             pi.hardware_PWM(pinR, 50, int(dR))
             if to_goal[0] < cam_dis:

raspberry_pi/servo_adjust.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+
+import pigpio
+import sys
+import time
+
+pi = pigpio.pi()
+
+
+try:
+    DMUX_pin=[11,9,10]
+    DMUX_out = [1, 0, 0]
+    for pin in range(0, 2):
+        pi.set_mode(DMUX_pin[pin], pigpio.OUTPUT)
+        pi.write(DMUX_pin[pin], DMUX_out[pin])
+
+    args = sys.argv
+    pi.set_mode(13, pigpio.OUTPUT)
+
+    pi.hardware_PWM(13, 50, int(args[1]))
+    time.sleep(1)
+
+finally:
+    pi.hardware_PWM(13, 0, 0)
+
+    for pin in range(0, 2):
+        pi.write(DMUX_pin[pin], 0)