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Merge branch 'main' of https://github.com/rookiepeng/hexapod

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This commit is contained in:
Zhengyu Peng 2022-02-22 18:32:17 -05:00
commit e51f97b817
2 changed files with 13 additions and 3 deletions
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10
software/raspberry pi/btserver.py
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@ -28,6 +28,8 @@ import socket
from threading import Thread from threading import Thread
import json import json
import os
class BluetoothServer(Thread): class BluetoothServer(Thread):
ERROR = -1 ERROR = -1
@ -47,6 +49,12 @@ class BluetoothServer(Thread):
with open('./config.json', 'r') as read_file: with open('./config.json', 'r') as read_file:
self.config = json.load(read_file) self.config = json.load(read_file)
stream = os.popen('hciconfig hci0')
output = stream.read()
device_id = "hci0"
bt_mac = output.split("{}:".format(device_id))[1].split(
"BD Address: ")[1].split(" ")[0].strip()
# import commands # import commands
# cmd = "hciconfig" # cmd = "hciconfig"
# device_id = "hci0" # device_id = "hci0"
@ -54,7 +62,7 @@ class BluetoothServer(Thread):
# bt_mac = output.split("{}:".format(device_id))[1].split("BD Address: ")[1].split(" ")[0].strip() # bt_mac = output.split("{}:".format(device_id))[1].split("BD Address: ")[1].split(" ")[0].strip()
# print bt_mac # print bt_mac
self.mac = '192.168.1.127' self.mac = bt_mac
self.port = 10 self.port = 10
self.bt_socket = socket.socket( self.bt_socket = socket.socket(
socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM) socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)

6
software/raspberry pi/hexapod.py
View File

@ -146,7 +146,6 @@ class Hexapod(Thread):
self.standby() self.standby()
# self.laydown() # self.laydown()
# self.leg_0.move_junctions([90,45,135])
time.sleep(1) time.sleep(1)
# self.leg_0.set_angle(1, 30) # self.leg_0.set_angle(1, 30)
@ -379,10 +378,13 @@ class Hexapod(Thread):
def main(): def main():
q = Queue() q = Queue()
tcp_server = TCPServer(q) tcp_server = TCPServer(q)
tcp_server.start() tcp_server.start()
bt_server = BluetoothServer(q)
bt_server.start()
hexapod = Hexapod(q) hexapod = Hexapod(q)
hexapod.start() hexapod.start()