I need to make an iframeeast backhand. In iframeit I have a video upside down so for it to be seen correctly on the page I have to invert the image:
<center>
<iframe scrolling="auto" width="660px" height="500px" class="flipH" src="http://192.168.2.1:8080/stream_simple.html"></iframe>
</center>
I have a Raspberry Pi with a web server where there is a joystick. I have programmed a python script that is responsible for translating the position of the joystick to the speed that the DC motors must have so that the car turns as indicated by the joystick. This is the script:
#! /usr/bin/python
import cgi, cgitb
import socket
cgitb.enable()
socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
form = cgi.FieldStorage()
x = float(form.getvalue('grados'))
y = float(form.getvalue('distancia'))
if 0 <= x and x <= 90:
derecha = int(round((y/100)*((2*x/90)-1)*255))
izquierda = int(round((y/100)*255))
print(derecha, izquierda)
sent = socket.sendto(str(derecha) + "5", ('127.0.0.1', 31113))
sent = socket.sendto(str(izquierda) + "6", ('127.0.0.1', 31113))
if 90 < x and x <= 180:
derecha = int(round((y/100)*255))
izquierda = int(round(((-2*(x-90)/90)+1)*255))
print(derecha, izquierda)
sent = socket.sendto(str(derecha) + "5", ('127.0.0.1', 31113))
sent = socket.sendto(str(izquierda) + "6", ('127.0.0.1', 31113))
if 180 < x and x <= 270:
derecha = int(round((y/100)*((-2*(x-180)/90)+1)*255))
izquierda = int(round((y/100)*-255))
print(derecha, izquierda)
sent = socket.sendto(str(derecha) + "5", ('127.0.0.1', 31113))
sent = socket.sendto(str(izquierda) + "6", ('127.0.0.1', 31113))
if 270 < x and x <= 270:
derecha = int(round((y/100)*-255))
izquierda = int(round((y/100)*((2*(x-270)/90)-1)*255))
print(derecha, izquierda)
sent = socket.sendto(str(derecha) + "5", ('127.0.0.1', 31113))
sent = socket.sendto(str(izquierda) + "6", ('127.0.0.1', 31113))
In the script I think there are no errors. It tells me a value between -255 or 255 that indicates the speed. The sign is responsible for indicating whether the wheels go forward or backward. Behind this number a 5 (right motor) or a 6 (left motor) was added to be able to differentiate them later in the Arduino.
I think the Arduino code is well written because if I send the data by hand, everything goes perfectly, but if the joystick does it, it doesn't go well. It is this (there are some things of some servos that I control with the same Arduino but it has nothing to do with it):
#include<Servo.h>
//Creamos los objetos servo
Servo servo;
Servo servo2;
Servo servo3;
Servo servo4;
int DV = 5;
int DA = 12;
int DR = 8;
int IV = 4;
int IA = 7;
int IR = 3;
int enviado; //Aqui enviamos el numero completo
int num; //Numero del servo
int posicion; //Posicion del servo
void setup()
{
//Inicializamos los Servos
servo.attach(9);
servo2.attach(10);
servo3.attach(11);
servo4.attach(6);
pinMode (DV, OUTPUT);
pinMode (DA, OUTPUT);
pinMode (DR, OUTPUT);
pinMode (IV, OUTPUT);
pinMode (IA, OUTPUT);
pinMode (IR, OUTPUT);
//Inicializamos la comunicacion por Serial
Serial.begin(9600);
}
void loop()
{
/*
1- Leer un numero entero por serial
2- Calculamos su modulo por 10 (sera el numero del motor)
3- Dividir el entero inicial por 10
4- Lo que quede, sera la posicion del motor
*/
enviado = Serial.parseInt();
num = enviado%10;
enviado = enviado/10;
posicion = enviado;
//Hora de mover los servos!
if(num == 1)
{
servo.write(posicion);
}
else if(num == 2)
{
servo2.write(posicion);
}
else if(num == 3)
{
servo3.write(posicion);
}
else if(num == 4)
{
servo4.write(posicion);
}
else if(num == 5 || num == -5)
{
if (posicion > 0)
{
digitalWrite(DA, HIGH);
digitalWrite(DR, LOW);
analogWrite(DV, posicion);
}
if (posicion == 0)
{
analogWrite(DV, 0);
}
if (posicion < 0)
{
digitalWrite(DA, LOW);
digitalWrite(DR, HIGH);
analogWrite(DV, abs(posicion));
}
}
else if(num == 6 || num == -6)
{
if (posicion > 0)
{
digitalWrite(IA, HIGH);
digitalWrite(IR, LOW);
analogWrite(IV, posicion);
}
if (posicion == 0)
{
analogWrite(IV, 0);
}
if (posicion < 0)
{
digitalWrite(IA, LOW);
digitalWrite(IR, HIGH);
analogWrite(IV,abs(posicion));
}
}
}
I think the error is that the motors have a delay when moving, so a queue is created and it does not move as it should. What I don't understand is why there is a delay when I haven't programmed it.
EDIT: Consigo makes the motor on the right move by sending the values apart, with the script they move randomly. The one on the left I can't control or send the values by hand or using the script with which it also moves randomly.
EDIT2: I have already solved the left motor. I thought it didn't make sense that it wasn't the one on the left and the one on the right was, and the problem is that the outputs were wrong.
I have an Arduino that I use to move some servos. The Arduino has the following code:
#include<Servo.h>
//Creamos los objetos servo
Servo servo;
Servo servo2;
Servo servo3;
Servo servo4;
int enviado; //Aqui enviamos el numero completo
int num; //Numero del servo
int posicion; //Posicion del servo
void setup()
{
//Inicializamos los Servos
servo.attach(9);
servo2.attach(10);
servo3.attach(11);
servo4.attach(6);
//Inicializamos la comunicacion por Serial
Serial.begin(9600);
}
void loop()
{
if(Serial.available() >= 1)
{
/*
1- Leer un numero entero por serial
2- Calculamos su modulo por 10 (sera el numero del motor)
3- Dividir el entero inicial por 10
4- Lo que quede, sera la posicion del motor
*/
enviado = Serial.parseInt();
num = enviado%10;
enviado = enviado/10;
posicion = enviado;
//Hora de mover los servos!
if(num == 1)
{
servo.write(posicion);
}
else if(num == 2)
{
servo2.write(posicion);
}
else if(num == 3)
{
servo3.write(posicion);
}
else if(num == 4)
{
servo4.write(posicion);
}
}
}
The problem I have is that when I send the information necessary for the servo that I want to move to where I want, there is a delay between the time I press the button and the servo moves.
I don't know if the Arduino takes time to calculate what I command it to know what to do or if I'm doing something wrong.
I'm having trouble getting a python script and mjpg-streamer to run and stay open in the background. What I have done is to /ect/rc.localadd two lines:
python /home/pi/Desktop/scriptarranque.py
cd mjpg-streamer/mjpg-streamer-experimental/ && ./mjpg_streamer -o "output_http.so -w ./www" -i "input_raspicam.so"
When starting, only the first of the two is activated. I'm sure the other one works because if I put it in the terminal it works without problems but I don't know why it doesn't start with the system.
[Fixed, below is another error] I don't understand why I can't activate the cgi on my lighttpd server. Here I leave my /etc/lighttpd/lighttpd.confso you can see if I have something wrong.
server.modules = (
"mod_access",
"mod_alias",
"mod_compress",
"mod_redirect",
"mod_cgi",
# "mod_rewrite",
)
server.document-root = "/var/www"
server.upload-dirs = ( "/var/cache/lighttpd/uploads" )
server.errorlog = "/var/log/lighttpd/error.log"
server.pid-file = "/var/run/lighttpd.pid"
server.username = "www-data"
server.groupname = "www-data"
server.port = 80
$HTTP["url"] =~ "/cgi-bin/" {
cgi.assign = ( ".py" = "/usr/bin/python" )
}
index-file.names = ( "index.php", "index.html", "index.lighttpd.html" )
url.access-deny = ( "~", ".inc" )
static-file.exclude-extensions = ( ".php", ".pl", ".fcgi" )
compress.cache-dir = "/var/cache/lighttpd/compress/"
compress.filetype = ( "application/javascript", "text/css", "text/html", "text/plain" )
# default listening port for IPv6 falls back to the IPv4 port
include_shell "/usr/share/lighttpd/use-ipv6.pl " + server.port
include_shell "/usr/share/lighttpd/create-mime.assign.pl"
include_shell "/usr/share/lighttpd/include-conf-enabled.pl"
fastcgi.server = ( ".php" => ((
"bin-path" => "/usr/bin/php-cgi",
"socket" => "/tmp/php.socket"
)))
When I put the necessary code for the cgi to work, the server stops working. If I put service lighttpd restartI get:Job for lighttpd.service failed. See 'systemctl status lighttpd.service' and 'journalctl -xn' for details.
If I put systemctl status lighttpd.servicethe following:
● lighttpd.service - Lighttpd Daemon
Loaded: loaded (/lib/systemd/system/lighttpd.service; enabled)
Active: failed (Result: exit-code) since mar 2017-05-02 19:39:58 CEST; 50s ago
Process: 1495 ExecStartPre=/usr/sbin/lighttpd -t -f /etc/lighttpd/lighttpd.conf (code=exited, status=255)
may 02 19:39:58 raspberrypi lighttpd[1495]: 2017-05-02 19:39:58: (configfile.c.589) source: /etc/lighttpd/lighttpd.conf line: 20 pos: 27 use => for assignments in arrays
may 02 19:39:58 raspberrypi lighttpd[1495]: 2017-05-02 19:39:58: (configfile.c.954) configfile parser failed at: .py
may 02 19:39:58 raspberrypi systemd[1]: lighttpd.service: control process exited, code=exited status=255
may 02 19:39:58 raspberrypi systemd[1]: Failed to start Lighttpd Daemon.
may 02 19:39:58 raspberrypi systemd[1]: Unit lighttpd.service entered failed state.
If I put journalctl -xnit, this comes out:
-- Logs begin at mar 2017-05-02 19:34:53 CEST, end at mar 2017-05-02 19:42:03 CEST. --
may 02 19:41:56 raspberrypi sudo[1543]: pam_unix(sudo:session): session opened for user root by (uid=0)
may 02 19:41:56 raspberrypi systemd[1]: Starting Lighttpd Daemon...
-- Subject: Unit lighttpd.service has begun with start-up
-- Defined-By: systemd
-- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel
--
-- Unit lighttpd.service has begun starting up.
may 02 19:41:56 raspberrypi lighttpd[1551]: 2017-05-02 19:41:56: (configfile.c.589) source: /etc/lighttpd/lighttpd.conf line: 20 pos: 27 use => for assignments in arrays
may 02 19:41:56 raspberrypi lighttpd[1551]: 2017-05-02 19:41:56: (configfile.c.954) configfile parser failed at: .py
may 02 19:41:56 raspberrypi systemd[1]: lighttpd.service: control process exited, code=exited status=255
may 02 19:41:56 raspberrypi systemd[1]: Failed to start Lighttpd Daemon.
-- Subject: Unit lighttpd.service has failed
-- Defined-By: systemd
-- Support: http://lists.freedesktop.org/mailman/listinfo/systemd-devel
--
-- Unit lighttpd.service has failed.
--
-- The result is failed.
may 02 19:41:56 raspberrypi systemd[1]: Unit lighttpd.service entered failed state.
may 02 19:41:56 raspberrypi sudo[1543]: pam_unix(sudo:session): session closed for user root
may 02 19:42:03 raspberrypi sudo[1558]: pi : TTY=pts/0 ; PWD=/home/pi ; USER=root ; COMMAND=/bin/journalctl -xn
may 02 19:42:03 raspberrypi sudo[1558]: pam_unix(sudo:session): session opened for user root by (uid=0)
EDIT : Now I get another error. If I put systemctl status lighttpd.servicethe following:
● lighttpd.service - Lighttpd Daemon
Loaded: loaded (/lib/systemd/system/lighttpd.service; enabled)
Active: failed (Result: exit-code) since mar 2017-05-02 20:24:36 CEST; 3min 59s ago
Process: 1404 ExecStartPre=/usr/sbin/lighttpd -t -f /etc/lighttpd/lighttpd.conf (code=exited, status=255)
If I put journalctl -xnit, this comes out:
-- Logs begin at mar 2017-05-02 20:21:29 CEST, end at mar 2017-05-02 20:33:56 CEST. --
may 02 20:30:02 raspberrypi dhcpd[671]: DHCPDISCOVER from e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:30:03 raspberrypi dhcpd[671]: DHCPOFFER on 192.168.2.7 to e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:31:07 raspberrypi dhcpd[671]: DHCPDISCOVER from e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:31:08 raspberrypi dhcpd[671]: DHCPOFFER on 192.168.2.7 to e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:32:10 raspberrypi dhcpd[671]: DHCPDISCOVER from e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:32:11 raspberrypi dhcpd[671]: DHCPOFFER on 192.168.2.7 to e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:33:15 raspberrypi dhcpd[671]: DHCPDISCOVER from e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:33:16 raspberrypi dhcpd[671]: DHCPOFFER on 192.168.2.7 to e8:4e:06:4b:a9:d9 (raspberrypi) via wlan0
may 02 20:33:56 raspberrypi sudo[1445]: pi : TTY=pts/0 ; PWD=/home/pi ; USER=root ; COMMAND=/bin/journalctl -xn
may 02 20:33:56 raspberrypi sudo[1445]: pam_unix(sudo:session): session opened for user root by (uid=0)
I have the following website:
<html>
<link rel="stylesheet" href="http://code.jquery.com/mobile/1.4.5/jquery.mobile-1.4.5.min.css" />
<script src="http://code.jquery.com/jquery-1.11.1.min.js"></script>
<script src="http://code.jquery.com/mobile/1.4.5/jquery.mobile-1.4.5.min.js"></script>
<script src="//ajax.googleapis.com/ajax/libs/jquery/1.10.2/jquery.min.js" ></script>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript">
$(document).ready(function() {
$('#boton1').click(function(){
var dataString = $('#form1').serialize();
alert('Datos serializados: '+dataString);
$.ajax({
type: "POST",
url: "/cgi-bin/script.py",
data: dataString,
dataType: "json",
success: function(data) {
}
});
});
});
</script>
<body>
<form id="form1" data-ajax="false">
<label for="slider-fill">Input slider:</label>
<input type="range" name="slider-fill" id="slider-fill" value="90" min="0" max="180" data-highlight="true">
<input type="submit" value="Submit" id="boton1">
</form>
</body>
</html>
As you can see what it does is send information to /cgi-bin/script.pyand that information is serialized. The problem is that I don't know how to collect it in the script to later send it to an Arduino. This is what I have written in Python:
import cgi, cgitb
import serial
cgitb.enable()
ser=serial.Serial('/dev/ttyACM0',9600)
form = cgi.FieldStorage()
searchterm = form.getvalue('form1')
ser.write(str(searchterm) + "1")
It doesn't work for me and I don't really know what to do.
A very simple question, if writeI want to write two things, how should I do it?
An example:
import serial
ser = serial.Serial('/dev/ttyACM0', 9600)
while True:
entrada = input("Introduce el angulo: ")
ser.write(str(entrada))
What do I have to do here so that he writewrites la entradaand then a 1 after it and that, if I entradawrite 90 , he writesends 901 ?