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-. . ? mowmylawn.ru !

2015, GT , .

Robomow . , .

-. . 15, .

, (), 'Belmower'

: . , .

: . Raspberrry Pi — . , , . Nucleo stm32 — . , , .

: RTK, . .

: GPS/GLONASS. . . .

..,

, , . , . , , — ( , ).

. , . . . 4 . , - , .

2016. ROS & FUN

ROS , Kinect SLAM, . Kinect . ROS «Hello World!», . , . - , ROS ? .

« » , Arduino. ! , ! .

— , . , - . Boston Dynamics, Darpa -, , , .

— , , . «» bluetooth .

. ! .

— ! bluetooth, , . , !

? , ? ...hallenge accepted!

Raspberry pi, USB , wifi-, -.
. . H- () . , .

4 , .. 8 2 .

, - , , 5 .

, 3 /. ftp- . ivideon.

Arduino serial- , . , raspberry bluetooth, .

Arduino

int m1=2;
int m1b=3;
int m2=4;
int m2b=5;
int mk=6;
int pis=7;


char a,b;

void setup()  
{
Serial.begin(9600);
Serial1.begin(9600);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for Leonardo only
  }
  while (!Serial1) {
    ; // wait for serial port to connect. Needed for Leonardo only
  }
  Serial.println("Start");

 pinMode(statpin, OUTPUT);
 pinMode(m1, OUTPUT);
 pinMode(m1b, OUTPUT);
 pinMode(m2, OUTPUT);
 pinMode(m2b, OUTPUT);
 pinMode(mk, OUTPUT);
 pinMode(pis, OUTPUT);

analogWrite(pis,  1000);
delay(100);
analogWrite(pis,  700);
delay(200);
analogWrite(pis,  300);
delay(300);
analogWrite(pis,  1000);
delay(100);
analogWrite(pis,  100);
digitalWrite(pis,  HIGH);
 digitalWrite(statpin, LOW);
digitalWrite(m1, LOW);
digitalWrite(m1b,  LOW);
digitalWrite(m2, LOW);
digitalWrite(m2b,  LOW);
digitalWrite(mk,  LOW);
digitalWrite(pis,  HIGH);

}

void loop() // run over and over
{

  if (Serial.available()){
     a=Serial.read();
     Serial1.println(a);

    if(a=='B'){
digitalWrite(m1, HIGH);
digitalWrite(m1b,  LOW);
digitalWrite(m2, HIGH);
digitalWrite(m2b,  LOW);
    }
    if(a=='F'){
digitalWrite(m1, HIGH);
digitalWrite(m1b, HIGH);
digitalWrite(m2, HIGH);
digitalWrite(m2b,  HIGH);
    }
    if(a=='R'){
digitalWrite(m1, HIGH);
digitalWrite(m1b, LOW);
digitalWrite(m2, HIGH);
digitalWrite(m2b,  HIGH);
    }
    if(a=='L'){
digitalWrite(m1, HIGH);
digitalWrite(m1b, HIGH);
digitalWrite(m2, HIGH);
digitalWrite(m2b,  LOW);
    }

       if(a=='S'){
digitalWrite(m1, LOW);
digitalWrite(m1b, LOW);
digitalWrite(m2, LOW);
digitalWrite(m2b,  LOW);
    }

       if(a=='W'){
digitalWrite(mk, HIGH);
    }  
       if(a=='w'){
digitalWrite(mk, LOW);
    }   

       if(a=='V'){
digitalWrite(pis, LOW);
    }  
       if(a=='v'){
digitalWrite(pis, 700);
    }   
  
    }else{
      
    }
  
}

raspberry python . opencv -, ftp . , - , twitter-.

import numpy as np
import sys
import pygame
import pygame.camera
from pygame.locals import *
from twython import Twython
from random import random
import ftplib


pygame.init()
pygame.camera.init()
cam = pygame.camera.Camera("/dev/video0",(550,400))
cam.start()

CONSUMER_KEY = '-------MBZDT1PwibFeIcSp'
CONSUMER_SECRET = '-----------------1ZGHgBRz6aEr4YhUVuO84CuEV'
ACCESS_KEY = '-----------------4MCjSkny9Y6rJj5I32ulXctISQF'
ACCESS_SECRET = '------------------------cDadRY3He5Kv6CXVuqy2Dh'
api = Twython(CONSUMER_KEY,CONSUMER_SECRET,ACCESS_KEY,ACCESS_SECRET)
api.verify_credentials()

host = "-.--.---.196"
ftp_user = "ftp_user"
ftp_password = "ftp_password"
con = ftplib.FTP(host, ftp_user, ftp_password)
con.cwd("/mowmylawn.ru/webcam")

a={0:' !   !',1:'  .   !',2:'     ...    ',3:'      ?',4:',   !',5:'  ,        :)) !',6:', ... !',7:' ,     .',8:'  :  -  ',9:'  —  ,    ...',10:'    :    ?',11:'  ',11:'-,   ',12:' -  ,         .',13:'—     ! — ,    !',14:',   ! ...:(((!',15:'  ? robogazon.ru',16:' ,    !'}

def twit():
    image = cam.get_image()
    pygame.image.save(image,'webcam.jpg')
    photo = open('webcam.jpg','rb')
    b = random() * (len(a)-1)
    b = int(round(b,0))
    #api.upload_media(media=photo)
    #api.update_status(status=a[b])
    api.update_status_with_media(media=photo, status=a[b])

def ftpimg():
    image = cam.get_image()
    pygame.image.save(image,'webcam.jpg')
    photo = open('webcam.jpg','rb')
    send = con.storbinary("STOR "+ 'webcam.jpg', photo)

while 1 :
    ftpimg()
    b = random() * (500)
    b = int(round(b,0))
    if b==107:
        twit()

con.close

http serial arduino.

«S» —
«F» —
«B» —
«L» —
«R» —
«W» —
«w» —
«V» —
«v» —

import serial,time
import urllib3

http = urllib3.PoolManager()


ser = serial.Serial("/dev/ttyUSB0",9600)
ser.writelines("S");

olddata=0
countolddata=0
while 1 :
    r = http.request('GET', 'http://mowmylawn.ru/1.php')
    
    if r.data!=olddata:
        olddata=r.data
        countolddata=0
    else:
        countolddata+=1
    
    if countolddata>20:
        ser.writelines("S")
    else:
        ser.writelines(r.data)

ser.close()
con.close

-

bootstrap . .jpg , . , , , , .

.jpg

<script>
setInterval(function(){
var im1='http://mowmylawn.ru/webcam/webcam.jpg?s='+Math.random();
var im2='http://kosmos-podolsk.ru/webc1.jpg?s='+Math.random();
var tmpImg = new Image() ;
    tmpImg.src = im1 ;
    tmpImg.onload = function() {
         $("#w1dd").attr('src',im1 );
    } ;

    tmpImg.src = im2 ;
    tmpImg.onload = function() {
         $("#w2dd").attr('src',im2 );
    } ;	

}, 200);
</script>