【ラズパイ】raspberry pi zero でロボットを作製中(続1)

2016/05/05 2017/01/28

前の状態から以下のハードウェアを追加

５年くらい前のwebカメラ
11acに対応したWLANドングル

やったこと

node.jsを使ってGPIOをweb画面上から操作（これでラジコンみたいになった）
同じくweb画面にmjpgを使ってwebカメラの画像を表示
web画面からオート操縦させる（前はpythonのコードを使ってHC-SR04 を制御していたが、今回はnode.jsのr-pi-usonicというライブラリを使った）

node.js ライブラリ

express　→　nodeフレームワーク使用するため
async　　→　オート操縦を非同期で行うため
sleep　　→　オート操縦時の処理待ち時間設定のため
r-pi-usonic　→　HC−SR０４を使用するため
onoff　→　GPIOを使用するため

web操作盤画面スクショ

表示された画面をタップすると小さくなる

動作の動画

ソースコード

var express= require('express');
var router = express.Router();

var async  = require('async');
var sleep  = require('sleep');
var usonic = require('r-pi-usonic');
var sensor = null;
usonic.init(function (error) {
    if (!error) {
        sensor = usonic.createSensor(23, 17, 500);
    }
});

var GPIO = require('onoff').Gpio;
var onePlus = new GPIO(19, 'out');
var oneMinus = new GPIO(20, 'out');
var twoPlus = new GPIO(21, 'out');
var twoMinus = new GPIO(26, 'out');

var FORWARD = 'forward';
var BACKWARD = 'backward';
var LEFT = 'left';
var RIGHT = 'right'
var LEFT_TURN = 'left_turn';
var RIGHT_TURN = 'right_turn';
var STOP = 'stop';
var AUTO = 'auto';


/* GET users listing. */
router.get('/', function(req, res, next) {
//  console.log(req.query);                                                                                          
    var action = req.query.action;
    var msg = '';
    res.header("Content-Type", "application/json; charset=utf-8");

    if (sensor == null) {
        msg = '超音波センサーが認識されていません！';
    }

    switch (action) {
    case FORWARD :
        forward();
        msg = '前進';// + (sensor != null ? 'Distance: ' + sensor().toFixed(2) + ' cm' : '');                        
        break;
    case BACKWARD :
        backward();
        msg = '後退';
        break;
    case LEFT :
        onePlus.write(0);
        oneMinus.write(1);
        twoPlus.write(1);
        twoMinus.write(0);
        msg = '左折';
        break;
    case RIGHT :
        onePlus.write(1);
        oneMinus.write(0);
        twoPlus.write(0);
        twoMinus.write(1);
        msg = '右折';
        break;
    case LEFT_TURN :
        leftTurn();
        msg = '方向転換（左）';
        break;
    case RIGHT_TURN :
        rightTurn();
        msg = '方向転換（右）';
        break;
    case STOP :
        stop();
        msg = '停止';
        break;
    case AUTO :
        msg = "オート操縦";
        if (sensor != null) {
            var turnCount = 0;
            var allCount = 0 ;

            forward();
            async.whilst(function test(){
                return allCount &lt; 10;
            }, function func(callback) {
                if (sensor().toFixed(2) &lt; 6) {
                    turnCount++;
                } else {
                    turnCount--;
                    if (turnCount &lt; 0) {
                        turnCount = 0;
                    }
                }
                if (3 &lt; turnCount) {
                    backward();
                    sleep.usleep(600000);
                    leftTurn();
                    sleep.usleep(1000000);
                    forward();
                    turnCount = 0;
                    allCount++;
                }
                sleep.usleep(1000);
                callback();
            }, function result(err){
                if (err) {
                    console.error(err);
                } else {
                    sleep.sleep(2);
                    stop();
                    console.log('finished');
                }
            });
        } else {
            msg += "不能";
        }
    }

    res.send(msg);
});

function leftTurn(){
    onePlus.write(0);
    oneMinus.write(1);
    twoPlus.write(1);
    twoMinus.write(0);
}
function rightTurn(){
    onePlus.write(1);
    oneMinus.write(0);
    twoPlus.write(0);
    twoMinus.write(1);
}
function forward(){
    onePlus.write(0);
    twoPlus.write(0);
    oneMinus.write(1);
    twoMinus.write(1);
}
function backward(){
    oneMinus.write(0);
    twoMinus.write(0);
    onePlus.write(1);
    twoPlus.write(1);
}
function stop(){
    onePlus.write(0);
    oneMinus.write(0);
    twoPlus.write(0);
    twoMinus.write(0);
}
module.exports = router;

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

var express= require('express');

var router = express.Router();

var async = require('async');

var sleep = require('sleep');

var usonic = require('r-pi-usonic');

var sensor = null;

usonic.init(function (error) {

if (!error) {

sensor = usonic.createSensor(23, 17, 500);

}

});

var GPIO = require('onoff').Gpio;

var onePlus = new GPIO(19, 'out');

var oneMinus = new GPIO(20, 'out');

var twoPlus = new GPIO(21, 'out');

var twoMinus = new GPIO(26, 'out');

var FORWARD = 'forward';

var BACKWARD = 'backward';

var LEFT = 'left';

var RIGHT = 'right'

var LEFT_TURN = 'left_turn';

var RIGHT_TURN = 'right_turn';

var STOP = 'stop';

var AUTO = 'auto';

/* GET users listing. */

router.get('/', function(req, res, next) {

// console.log(req.query);

var action = req.query.action;

var msg = '';

res.header("Content-Type", "application/json; charset=utf-8");

if (sensor == null) {

msg = '超音波センサーが認識されていません！';

}

switch (action) {

case FORWARD :

forward();

msg = '前進';// + (sensor != null ? 'Distance: ' + sensor().toFixed(2) + ' cm' : '');

break;

case BACKWARD :

backward();

msg = '後退';

break;

case LEFT :

onePlus.write(0);

oneMinus.write(1);

twoPlus.write(1);

twoMinus.write(0);

msg = '左折';

break;

case RIGHT :

onePlus.write(1);

oneMinus.write(0);

twoPlus.write(0);

twoMinus.write(1);

msg = '右折';

break;

case LEFT_TURN :

leftTurn();

msg = '方向転換（左）';

break;

case RIGHT_TURN :

rightTurn();

msg = '方向転換（右）';

break;

case STOP :

stop();

msg = '停止';

break;

case AUTO :

msg = "オート操縦";

if (sensor != null) {

var turnCount = 0;

var allCount = 0 ;

forward();

async.whilst(function test(){

return allCount < 10;

}, function func(callback) {

if (sensor().toFixed(2) < 6) {

turnCount++;

} else {

turnCount--;

if (turnCount < 0) {

turnCount = 0;

}

if (3 < turnCount) {

backward();

sleep.usleep(600000);

leftTurn();

sleep.usleep(1000000);

forward();

turnCount = 0;

allCount++;

}

sleep.usleep(1000);

callback();

}, function result(err){

if (err) {

console.error(err);

} else {

sleep.sleep(2);

stop();

console.log('finished');

}

});

} else {

msg += "不能";

}

res.send(msg);

});

function leftTurn(){

onePlus.write(0);

oneMinus.write(1);

twoPlus.write(1);

twoMinus.write(0);

}

function rightTurn(){

onePlus.write(1);

oneMinus.write(0);

twoPlus.write(0);

twoMinus.write(1);

}

function forward(){

onePlus.write(0);

twoPlus.write(0);

oneMinus.write(1);

twoMinus.write(1);

}

function backward(){

oneMinus.write(0);

twoMinus.write(0);

onePlus.write(1);

twoPlus.write(1);

}

function stop(){

onePlus.write(0);

oneMinus.write(0);

twoPlus.write(0);

twoMinus.write(0);

}

module.exports = router;

<html>
  <head>
    <meta charset="utf-8">
    <meta name="viewport" content="width=device-width,user-scalable=no" >
    <title>操作盤</title>
    <link rel="stylesheet" href="/stylesheets/style.css" type="text/css" />
    <script type="text/javascript" src="/javascripts/jquery-2.2.2.min.js"></script>
    <script type="text/javascript">
      $(document).ready(function(){
        var isAuto = false;
        var isW = false;
        $("button").on("touchstart", function(){
          var id = $(this).attr("id");

          if (id != 'auto') {
            $("#response").load("/users?action="+id);
          } else {
            isAuto = !isAuto;
            if (isAuto) {
              $("#response").load("/users?action="+id);
              $(this).css("background-color","#FF3333");
              $("#forwad #left #right #backward").attr("disable",true);
            } else {
              $("#response").load("/users?action=stop");
              $(this).css("background-color","#248");
              $("#forwad #left #right #backward").attr("disable",false);
            }
          }
        });
        $("button").on("touchend", function(){
          var id = $(this).attr("id");
          if (id != 'auto') {
            $("#response").load("/users?action=stop");
          }
        });

        $("#webcam img").click(function(){
          if (!isW) { isW=true;$(this).css("width","20%"); } else { isW=false;$(this).css("width","100%"); }
        });
      });
    </script>
  </head>
  <body  ontouchmove="event.preventDefault()" >
    <div id="webcam" style="text-align:center;"><img style='width:100%;' src="http://192.168.0.152:9000/?action=stream" /></div>

    <div style="margin-bottom: -3px;"><button style='width:100%;' id='forward'>⬆️</button></div>
  <div>
    <button style='width:49.89%;' id='left'>⬅️</button>
    <button style='width:49.89%;float:right;' id='right'>➡️</button>
  </div>
  <div style='clear:both;'></div>
  <div style="margin-top: -3px;margin-bottom: -3px;"><button style='width:100%;' id='backward'>⬇️</button></div>
  <div style="margin-top: 10px;margin-bottom: -3px;text-align:left;"><button style='width:30%;' id='auto'>🔁</button></div>
      <!--  <div>                                                                                                                                  
    <button style='width:49.89%;' id='left_turn'>↪️</button>                                                                                        
    <button style='width:49.89%;float:right;' id='right_turn'>↩️</button>                                                                           
  </div> -->
  <div style='clear:both;'></div>
  <div id="response"></div>
  </body>
  </html>