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‎Autonomous_self_driving_car/20190423 Reference Document.pdf‎

1.68 MB
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‎Autonomous_self_driving_car/Robotics IOT NCR .py‎

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#written by Vikrant Thakur
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#license : open source
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import datetime
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import time
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import picamera
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import RPi.GPIO as GPIO
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from time import sleep
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import paho.mqtt.client as mqtt
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broker="localhost"
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decode="hello"
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GPIO.setmode(GPIO.BCM)
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Trig=14
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Echo=15
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Motor1= 18
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Motor2= 23
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Motor3= 24
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Motor4= 25
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GPIO.setup(Motor1,GPIO.OUT)
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GPIO.setup(Motor2,GPIO.OUT)
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GPIO.setup(Motor3,GPIO.OUT)
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GPIO.setup(Motor4,GPIO.OUT)
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GPIO.setup(Trig,GPIO.OUT)
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GPIO.setup(Echo,GPIO.IN)
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try:
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date = datetime.datetime.now().strftime("%m_%d_%Y_%H_%M_%S")
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while True:
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def on_connect(client, userdata, message, buf):
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time.sleep(1)
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print("log: "+ buf)
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def on_message(client,userdata,msg):
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topic=msg.topic
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print("message topic=",topic)
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globals()['decode']=str(msg.payload.decode("utf-8"))
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print("message received",decode)
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with picamera.PiCamera() as camera:
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camera.start_preview()
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camera.start_recording("/home/pi/"+ date + "video.h264")
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camera.wait_recording(30)
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camera.stop_recording()
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camera.stop_preview()
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client= mqtt.Client("vikrant")
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client.on_message = on_message
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print("connecting to broker ",broker)
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client.connect(broker)
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client.loop_start()
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client.subscribe("hello")
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time.sleep(1)
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client.loop_stop()
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client.disconnect()
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GPIO.output(Trig,False)
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time.sleep(1)
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GPIO.output(Trig,True)
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time.sleep(0.00001)
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GPIO.output(Trig,False)
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while GPIO.input(Echo)==False:
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end=time.time()
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while GPIO.input(Echo)==True:
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start=time.time()
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sig_time=start-end
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distance=165*100*sig_time
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if(distance>20.0):
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while(decode=='f'):
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GPIO.output(Motor1,GPIO.LOW)
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GPIO.output(Motor2,GPIO.HIGH)
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GPIO.output(Motor3,GPIO.LOW)
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GPIO.output(Motor4,GPIO.HIGH)
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print('Move Forward')
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time.sleep(1)
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if(decode=='r'):
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GPIO.output(Motor1,GPIO.LOW)
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GPIO.output(Motor2,GPIO.HIGH)
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GPIO.output(Motor3,GPIO.LOW)
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GPIO.output(Motor4,GPIO.LOW)
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time.sleep(2)
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print('Move Right')
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break
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if(decode=='l'):
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GPIO.output(Motor1,GPIO.LOW)
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GPIO.output(Motor2,GPIO.LOW)
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GPIO.output(Motor3,GPIO.LOW)
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GPIO.output(Motor4,GPIO.HIGH)
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time.sleep(2)
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print('Move left')
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break
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if(decode=='s'):
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GPIO.output(Motor1,GPIO.LOW)
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GPIO.output(Motor2,GPIO.LOW)
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GPIO.output(Motor3,GPIO.LOW)
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GPIO.output(Motor4,GPIO.LOW)
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time.sleep(0.1)
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print('Move Stop')
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print('distance from object is:() cm',format(distance))
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except KeyboardInterrupt:
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GPIO.cleanup()

‎Autonomous_self_driving_car/prerequisite.txt‎

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1. Install VLC player on the Laptop/PC
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2. Install MQTT broker on your laptop /PC
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3. The video will be processed through https at local server and it can be manually using laptop/PC keys
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4. Client is "Vikrant" and subscribe topic is "hello".
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5. Download picamera module in raspberry pi

‎IoT NCR 101-Hardware/ADLX345_I2C_sensor/ADLX345_I2C_sensor.ino‎

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#include <Wire.h>
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#define DEVICE (0x53) //address of the module
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byte value[6]; //every axis return 2 bit data
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char output[512];
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void setup()
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{
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Wire.begin(); //12c protocol
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Serial.begin(9600); //UART protocol
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Wire.beginTransmission(DEVICE);
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Wire.write(0x2D);
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Wire.write(0); //clear register
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Wire.beginTransmission(DEVICE);
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Wire.write(0x2D);
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Wire.write(16);
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Wire.beginTransmission(DEVICE);
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Wire.write(0x2D);
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Wire.write(8);
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Wire.endTransmission();
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}
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void loop()
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{
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int xyz=0x32;
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int x[2],y[2],z[2];
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int values[6];
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Wire.beginTransmission(DEVICE);
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Wire.write(xyz);
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Wire.endTransmission();
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Wire.beginTransmission(DEVICE);
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Wire.requestFrom(DEVICE,6);
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int i=0;
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while(Wire.available())
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{
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values[i]= Wire.read();
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i++;
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}
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for(i=0;i++;i<2)
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{
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x[i]=values[i];
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Serial.println(x[i]);
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}
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delay(100);
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for(i=2;i++;i<=4)
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{
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y[i]=values[i];
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Serial.println(y[i]);
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}
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delay(100);
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for(i=4;i++;i<=6)
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{
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z[i]=values[i];
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Serial.println(z[i]);
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}
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delay(100);
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}

‎IoT NCR 101-Hardware/DTH11_sensor_code/DTH11_sensor_code.ino‎

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#include "dht.h"
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#define dht_apin A2
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dht DHT;
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void setup()
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{
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Serial.begin(9600);
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delay(500);
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Serial.println("DHT11 Humidity & temperature Sensor\n\n");
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delay(1000);
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}
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void loop()
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{
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DHT.read11(dht_apin);
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Serial.print("Current humidity = ");
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Serial.print(DHT.humidity);
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Serial.print("% ");
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Serial.print("temperature = ");
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Serial.print(DHT.temperature);
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Serial.println("C ");
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delay(5000);
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}

‎IoT NCR 101-Hardware/PIR_Sensor_code/PIR_Sensor_code.ino‎

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int PIR_output=5; // output of pir sensor
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int led=13; // led pin
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void setup()
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{
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pinMode(PIR_output, INPUT);// setting pir output as arduino input
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pinMode(led, OUTPUT);//setting led as output
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Serial.begin(9600);//serial communication between arduino and pc
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}
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void loop()
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{
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if(digitalRead(PIR_output) == HIGH) // reading the data from the pir sensor
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{
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digitalWrite(13, HIGH); // setting led to high
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Serial.println("motion detected");
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}
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else
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{
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digitalWrite(13, LOW); // setting led to low
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Serial.println("scanning");
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}
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}

‎esp32_free_rtos_embedded_developers/.cproject‎

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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<storageModule moduleId="org.eclipse.cdt.core.settings">
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<cconfiguration id="org.eclipse.cdt.core.default.config.1924795996">
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<storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1924795996" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
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<externalSettings/>
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<extensions/>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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</cconfiguration>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.core.pathentry">
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<pathentry excluding="**/CMakeFiles/**" kind="out" path="build"/>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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</cproject>

‎esp32_free_rtos_embedded_developers/.project‎

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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>blink</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.cdt.core.cBuilder</name>
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<triggers>clean,full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.cdt.core.cnature</nature>
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<nature>org.eclipse.cdt.core.ccnature</nature>
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<nature>com.espressif.idf.core.idfNature</nature>
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</natures>
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</projectDescription>

‎esp32_free_rtos_embedded_developers/.vscode/c_cpp_properties.json‎

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{
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"configurations": [
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{
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"name": "Linux",
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"includePath": [
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"${workspaceFolder}/**",
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"/home/vikrant/wifi/esp/esp-idf/components**",
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"/home/vikrant/wifi/esp/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/xtensa-esp32-elf/**"
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],
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"defines": [],
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"compilerPath": "/home/vikrantthakur/wifi/esp/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc",
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"cStandard": "c11",
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"cppStandard": "c++17",
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"intelliSenseMode": "clang-x64",
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"compileCommands": "${workspaceFolder}/build/compile_commands.json"
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}
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],
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"version": 4
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}

‎esp32_free_rtos_embedded_developers/.vscode/settings.json‎

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{
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"files.associations": {
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"sdkconfig.h": "c",
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"task.h": "c",
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"freertos.h": "c"
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}
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}

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