Merge branch 'main' of git.nickiel.net:VCC/FaceTrackingCamerav3

Server/sockets_controller.py

@@ -0,0 +1,108 @@
+import RPi.GPIO as GPIO
+import time
+import sys
+import websockets
+import asyncio
+
+pin_right = 13 # blue right
+pin_left = 6 # purple left
+
+pin_up = 20 # white up
+pin_down = 21 # green down
+
+
+GPIO.setmode(GPIO.BCM)
+
+GPIO.setup(pin_up, GPIO.OUT)
+GPIO.setup(pin_down, GPIO.OUT)
+GPIO.setup(pin_left, GPIO.OUT)
+GPIO.setup(pin_right, GPIO.OUT)
+
+# PWM(pin, frequency_in_Hz)
+pwm_pin_up = GPIO.PWM(pin_up, 150)
+pwm_pin_down = GPIO.PWM(pin_down, 150)
+
+pwm_pin_left = GPIO.PWM(pin_left, 150)
+pwm_pin_right = GPIO.PWM(pin_right, 150)
+
+socket_connections = {}
+
+async def handle_client(websocket, path):
+    global socket_connections
+
+    print("packet connected")
+    socket_connections[websocket] = ""
+
+    try:
+        while True:
+            data = await websocket.recv()
+            for command in data.split(":"):
+                print(f"data is: {command}")
+                await update_from_packet(command)
+    except websockets.exceptions.ConnectionClosed:
+        print("Connection closed with: ", websocket.remote_address)
+    finally:
+        print("closing websocket")
+        del socket_connections[websocket]
+
+axis_x = 0
+axis_y = 0
+async def update_from_packet(data):
+    global axis_x, axis_y
+
+    if data[0] == 'L':
+        axis_x = -int(data[1:])
+    if data[0] == 'R':
+        axis_x = int(data[1:])
+    if data[0] == 'U':
+        axis_y = int(data[1:])
+    if data[0] == 'D':
+        axis_y = -int(data[1:])
+
+    # if speed_up > 0:
+    if axis_y > 0:
+        pwm_pin_down.stop()
+        pwm_pin_up.start(min(axis_y, 100))
+        GPIO.output(pin_down, GPIO.LOW)
+    
+    # if speed_down > 0:
+    if axis_y < 0:
+        pwm_pin_up.stop()
+        pwm_pin_down.start(min(abs(axis_y), 100))
+        GPIO.output(pin_up, GPIO.LOW)
+
+    #if speed_left > 0:
+    if axis_x < 0:
+        pwm_pin_right.stop()
+        pwm_pin_left.start(min(abs(axis_x), 100))
+        GPIO.output(pin_right, GPIO.LOW)
+
+    # if speed_right > 0:
+    if axis_x > 0:
+        pwm_pin_left.stop()
+        pwm_pin_right.start(min(axis_x, 100))
+        GPIO.output(pin_left, GPIO.LOW)
+
+    if axis_y == 0:
+        pwm_pin_up.stop()
+        pwm_pin_down.stop()
+    if axis_x == 0:
+        pwm_pin_left.stop()
+        pwm_pin_right.stop()
+
+async def main():
+    server = await websockets.serve(handle_client, "0.0.0.0", 8765)
+
+    print("server started")
+
+    await server.wait_closed()
+
+try:
+    asyncio.run(main())
+finally:
+    pwm_pin_up.stop()
+    pwm_pin_down.stop()
+    pwm_pin_left.stop()
+    pwm_pin_right.stop()
+
+    GPIO.cleanup()

joystick-controller-client

@@ -1 +1 @@
-Subproject commit 423ef593def0f066d74af2673281e1850dcd5db7
+Subproject commit 3609b9a848c56ea0d014e4de1a009fc9cc8d5734