ev3 First Testfiles

software/roboter/ev3/sensortest.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from ev3dev2.motor import LargeMotor, OUTPUT_A, SpeedPercent
+from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor  
+from ev3dev2.sensor import INPUT_1, INPUT_4
+
+m = LargeMotor(OUTPUT_A)
+touch = TouchSensor(INPUT_1)
+ultraSonic = UltrasonicSensor(INPUT_4)
+ultraSonic.MODE_US_DIST_CM
+
+m.on(SpeedPercent(50))
+
+while True:
+    if ultraSonic.distance_centimeters < 10:
+        m.on(SpeedPercent(25))
+        break
+    
+touch.wait_for_pressed(timeout_ms=None, sleep_ms=10)
+m.off()
+    
+

software/roboter/raspy/mainProg.py

@@ -6,6 +6,15 @@ from raspySensors import RaspySensors
 sensors = RaspySensors()
 
 
+#endregion
+
+#region 
+
+def measureSendData():
+    '''Measure Data via sensor class and send via MQTT'''
+    sensorData = sensors.readSensors()
+    client.publish("Robot/Data", json.dumps(sensorData, indent=4))
+
 #endregion
 
 #region MQTT callbacks
@@ -14,8 +23,15 @@ def send_data_json(client, userdata, message):
     dataDict = json.loads(strIn)
     print("Received data: ", json.dumps(dataDict))
 
+#Function for all Plants or one which changes according to request
 def drive_plant_1(clients, userdata, message):
+    #TODO Start drive forward
     print("Driving to plant 1")
+    measureSendData()
+    #TODO Start Drive Back Function
+    print("Driving back to start position")
+
+
     
 #endregion