RaspberryPi

Raspberry Pi Application

The application for the Raspberry Pi acts as the middle-man between the desktop application, and the micro-controller.

This wiki entry will contain basic information about the application. More information about the system can be found in the sub-pages

Camera

The code in the cam package attempts to import the picamera package, and will not work if it is not present. It will, however, not crash if it is not present. This is to be able to test code using one or more files from the package in a testing environment on a non-RPI computer.

Configuration

The configuration of the instance happens in the file vehicle_application.py

Commands

The supported commands can be split into two categories stream and controls

Stream

STREAM-INITIALIZE(address: str, port: int ) Initializes video stream, aimed at server on address:port
STREAM-SERVE-FOOTAGE( ) Starts serving footage - STREAM-INITIALIZE must be called first
STREAM-STOP-STREAMING( ) Stops serving of footage
STREAM-TERMINATE( ) Terminates streaming connection. STREAM-INITIALIZE must be called, before being able to serve stream again

Controls

Emulates the interface of the Controller class

DRIVE(val: int) sets drive - may be 0(low) or 1(high)
GEAR(val: int) sets gear
THROTTLE(val: int) sets throttle - throttle value between 0 and 10 (inclusive), 0 being full stop.
DIRECTION(val: int) sets direction value between 0 and 10 - 0 being left, 5 being forward and 10 being right