Adding working code for all chapters

Author: Wolfram Donat

Chapter10/kml.py

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+import string
+
+#open files for reading and writing
+gps = open('locations.log', 'r')
+kml = open('plane.kml', 'w')
+
+kml.write('<?xml version="1.0" encoding="UTF-8" ?>\n')
+kml.write('<kml xmlns="http://www.opengis.net/kml/2.2">\n')
+kml.write('<Document>\n')
+kml.write('<name>Plane Path</name>\n')
+kml.write('<description>Path taken by plane</description>\n')
+kml.write('<Style id=“yellowLineGreenPoly”>\n')
+kml.write('<LineStyle<color>7f00ffff</color><width>4</width></LineStyle>\n')
+kml.write('<PolyStyle><color>7f00ff00</color></PolyStyle>\n')
+kml.write('</Style>\n')
+kml.write('Placemark><name>Plane Path</name>\n')
+kml.write('<styleUrl>#yellowLineGreenPoly</styleUrl>\n')
+kml.write('<LineString>\n')
+kml.write('<extrude>1</extrude><tesselate>1</tesselate>\n')
+kml.write('<altitudeMode>relative</altitudeMode>\n')
+kml.write('<coordinates>\n')
+
+for line in gps:
+    #separate string by spaces
+    coordinate = string.split(line)
+    longitude = coordinate[0]
+    latitude = coordinate[1]
+    altitude = coordinate[2]
+    kml.write(longitude + "," + latitude + "," + altitude + "\n")
+
+kml.write('<\coordinates>\n')
+kml.write('</LineString>\n')
+kml.write('</Placemark>\n')
+kml.write('</Document>\n')
+kml.write('</kml>\n')
+

Chapter10/plane.py

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+import os
+from gps import *
+from time import *
+import time
+import threading
+import logging
+from picamera import PiCamera
+
+#set up logfile
+logging.basicConfig(filename='locations.log', level=logging.DEBUG,
+format='%(message)s')
+
+camera = PiCamera()
+
+picnum = 0
+gpsd = None
+
+class GpsPoller(threading.Thread):
+    def __init__(self):      #initializes thread
+        threading.Thread.__init__(self)
+        global gpsd
+        gpsd = gps(mode=WATCH_ENABLE)
+        self.current_value = None
+        self.running = True
+
+    def run(self):           #actions taken by thread 
+        global gpsd
+        while gpsp.running:
+            gpsd.next()
+
+if  __name__ == '__main__':   #if in the main program section,
+    gpsp = GpsPoller()       #start a thread and start logging
+    try:                     #and taking pictures
+        gpsp.start()
+        while True:
+            #log location from GPS
+            logging.info(str(gpsd.fix.longitude) + " " + str(gpsd.fix.latitude) + " " + 
+str(gpsd.fix.altitude))
+        
+            #save numbered image in correct directory
+            camera.capture("/home/pi/Documents/plane/image" + str(picnum) + ".jpg")
+            picnum = picnum + 1  #increment picture number
+            time.sleep(3)
+    except (KeyboardInterrupt, SystemExit):
+        gpsp.running = False
+        gpsp.join()

Chapter11/balloon.py

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+import os
+from gps import *
+import time
+import threading
+import subprocess
+
+#set up variables
+picnum = 0
+gpsd = None
+
+class GpsPoller(threading.Thread):
+    def __init__(self):
+        threading.Thread.__init__(self)
+        global gpsd
+        global picnum
+        gpsd = gps(mode=WATCH_ENABLE)
+        self.current_value = None
+        self.running = True
+    def run(self):
+        global gpsd
+        while gpsp.running:
+            gpsd.next()
+
+if __name__ == '__main__':
+    gpsp = GpsPoller()
+    try:
+        gpsp.start()
+        while True:
+            f = open('position.txt', 'w')
+            curAlt = gpsd.fix.altitude
+            curLong = gpsd.fix.longitude
+            curLat = gpsd.fix.latitude
+            f.write( str(curAlt) + " feet altitude, " + str(curLong) + " degrees longitude, " + str(curLat) +
+ " degrees latitude")
+            f.close()
+            subprocess.call(["text2wave position.txt -o position.wav"], shell = True)
+            subprocess.call(['ffmpeg -i "position.wav" -y -ar 22050 "position.wav"'], shell = True)
+            subprocess.call(["sudo ./pifm position.wav 103.5 22050"], shell = True)
+            subprocess.call(["raspistill -o /home/pi/Documents/balloon/image" + str(picnum) + ".jpg"], shell=True)
+            picnum = picnum + 1
+            time.sleep(15)
+    except (KeyboardInterrupt, SystemExit):
+        gpsp.running = False
+        gpsp.join()

Chapter12/sub.py

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+import time
+import smbus
+from picamera import PiCamera
+import RPi.GPIO as GPIO
+GPIO.setwarnings (False)
+GPIO.setmode (GPIO.BOARD)
+
+camera = PiCamera()
+
+def take_stillpic(num):
+    camera.capture("image" + str(num) + "jpg")
+
+def go_forward():
+    GPIO.output (19, 1) #IN1 on
+    GPIO.output (23, 0) #IN2 off
+    GPIO.output (11, 1) #IN3 on
+    GPIO.output (15, 0) #IN4 off
+
+def go_backward():
+    GPIO.output (19, 0) #IN1 off
+    GPIO.output (23, 1) #IN2 on
+    GPIO.output (11, 0) #IN3 off
+    GPIO.output (15, 1) #IN4 on
+
+def go_right():
+    GPIO.output (19, 1) #IN1 on
+    GPIO.output (23, 0) #IN2 off
+    GPIO.output (11, 0) #IN3 off
+    GPIO.output (15, 1) #IN4 on
+
+def go_left():
+    GPIO.output (19, 0) #IN1 off
+    GPIO.output (23, 1) #IN2 on
+    GPIO.output (11, 1) #IN3 on
+    GPIO.output (15, 0) #IN4 off
+
+
+#set motor control pins
+#left motor
+# 11 = IN3
+# 13 = enableB
+# 15 = IN4
+GPIO.setup (11, GPIO.OUT)
+GPIO.setup (13, GPIO.OUT)
+GPIO.setup (15, GPIO.OUT)
+
+#right motor
+# 19 = IN1
+# 21 = enableA
+# 23 = IN2
+GPIO.setup (19, GPIO.OUT)
+GPIO.setup (21, GPIO.OUT)
+GPIO.setup (23, GPIO.OUT)
+
+#enable both motors
+GPIO.output (13, 1)
+GPIO.output (21, 1)
+
+#setup nunchuk read
+bus = smbus.SMBus(0)  # or a (1) if you needed used y -1 in the i2cdetect command 
+bus.write_byte_data (0x52, 0x40, 0x00)
+time.sleep (0.5)
+
+x = 1
+
+while True:
+    try:
+        bus.write_byte (0x52, 0x00)
+        time.sleep (0.1)
+        data0 = bus.read_byte (0x52)
+        data1 = bus.read_byte (0x52)
+        data2 = bus.read_byte (0x52)
+        data3 = bus.read_byte (0x52)
+        data4 = bus.read_byte (0x52)
+        data5 = bus.read_byte (0x52)
+        joy_x = data0
+        joy_y = data1
+        accel_x = (data2 << 2) + ((data5 & 0x0c) >> 2)
+        accel_y = (data3 << 2) + ((data5 & 0x30) >> 4)
+        accel_z = (data4 << 2) + ((data5 & 0xc0) >> 6)
+        buttons = data5 & 0x03
+        button_c = (buttons == 1) or (buttons == 2)
+        button_z = (buttons == 0) or (buttons == 2)
+
+        if joy_x > 200: #joystick right
+            go_right()
+        elif joy_x < 35: #joystick left
+            go_left()
+        elif joy_y > 200: #joystick forward
+            go_forward()
+        elif joy_y < 35: #joystick back
+            go_backward()
+        elif button_c == True:
+            x = x+1
+            take_stillpic(x)
+        elif button_z == True:
+            print ‘button z! \n”
+        else: #joystick at neutral, no buttons
+            GPIO.output (19, 0)
+            GPIO.output (23, 0)
+            GPIO.output (11, 0)
+            GPIO.output (15, 0)
+
+    except IOError as e:
+        print e

Chapter5/webbot.py

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+import mechanize
+import time
+from bs4 import BeautifulSoup
+import re
+import urllib
+import string
+import os
+
+def downloadProcess(html, base, filetype, linkList):
+    “This does the actual file downloading”
+    Soup = BeautifulSoup(html)
+    For link in soup.find(‘a’):
+        linkText = str(link.get(‘href’))
+        if filetype in linkText:
+            slashList = [i for i, ind in enumerate(linkText) if ind == ‘/’]
+            directoryName = linkText[(slashList[0] + 1) : slashList[1]]
+            if not os.path.exists(directoryName):
+                os.makedirs(directoryName)
+
+            image = urllib.URLopener()
+            linkGet = base + linkText
+            filesave = string.lstrip(linkText, “/”)
+            image.retrieve(linkGet, filesave)
+        elif “htm” in linkText:  # Covers both “html” and “htm”
+            linkList.append(link)
+
+start = "http://" + raw_input ("Where would you like to start searching?\n")
+filetype = raw_input ("What file type are you looking for?\n")
+
+numSlash = start.count('/') #number of slashes in start—need to remove everything after third slash
+slashList = [i for i, ind in enumerate(start) if ind == '/'] #list of indices of slashes
+
+if (len(slashList) >= 3): #if there are 3 or more slashes, cut after 3
+    third = slashList[2]
+    base = start[:third] #base is everything up to third slash
+else:
+    base = start
+
+br = mechanize.Browser()
+r = br.open(start)
+html = r.read()
+linkList = [] #empty list of links
+
+print "Parsing " + start
+downloadProcess(html, base, filetype, linkList)
+
+for leftover in linkList:
+    time.sleep(0.1) #wait 0.1 seconds to avoid overloading server
+    linkText = str(leftover.get('href'))
+    print "Parsing " + base + linkText
+    br = mechanize.Browser()
+    r = br.open(base + linkText)
+    html = r.read()
+    linkList = []
+    downloadProcess(html, base, filetype, linkList)
+

Chapter6/weather.py

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+import os
+import time
+from sht1x.Sht1x import Sht1x as SHT1x
+import Rpi.GPIO as GPIO
+from Adafruit_BMP085 import BMP085
+import smbus
+import math
+
+GPIO.setmode(GPIO.BOARD)
+GPIO.setup(8, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
+
+bus = smbus.SMBus(0)
+address = 0x1e
+
+def read_byte(adr):
+    return bus.read_byte_data(address,adr)
+
+def read_word(adr):
+    high = bus.read_byte_data(address, adr)
+    low = bus.read_byte_data(address, adr)
+    val = (high << 8) + low
+    return val
+
+def read_word_2c(adr):
+    val = read_word(adr)
+    if (val >= 0x8000):
+        return -((65535 - val) + 1)
+    else:
+        return val
+
+def write_byte(adr, value):
+    bus.write_byte_data(address, adr, value)
+
+def checkTemp():
+    dataPin = 11
+    clkPin = 7
+    sht1x = SHT1x(dataPin, clkPin, SHT1x.GPIO_BOARD)
+    temp = sht1x.read_temperature_C()
+    temp = temp*9/5 + 32        #if you want degrees F
+    return temp
+
+def checkHumidity():
+    dataPin = 11
+    clkPin = 7
+    sht1x = SHT1x(dataPin, clkPin, SHT1x.GPIO_BOARD)
+    humidity = sht1x.read_humidity()
+    return humidity
+
+def checkBarometer():
+    bmp = BMP085(0x77)
+    pressure = bmp.readPressure()
+    pressure = pressure/100.0
+    return pressure
+
+def checkWindSpeed()
+    prev_input = 0
+    total = 0
+    totalSpeed = 0
+    current = time.time()
+    for i in range(0, 900):
+        input = GPIO.input(8)
+        if ((not prev_input) and input):
+            total = total + 1
+        prev_input = input
+        if total == 90:
+            rps = (1/ (time.time()-current))
+            speed = math.exp((rps + 0.95)/4.3)
+            totalSpeed = totalSpeed + speed
+            total = 0
+            current = time.time()
+    speed = totalSpeed / 10    #average speed out of ten turns
+    return speed
+
+def checkWindDirection()
+    write_byte(0, 0b01110000)
+    write_byte(0, 0b00100000)
+    write_byte(0, 0b00000000)
+    scale = 0.92
+    x_offset = 106        #use the offsets you computed
+    yoffset = -175        #use the offsets you computed
+    x_out = (read_word_2c(3) - x_offset) * scale
+    y_out = (read_word_2c(7) - y_offset) * scale
+    direction = math.atan2(y_out, x_out)
+    if (direction < 0):
+        direction += 2 * math.pi
+        direction = math.degrees(direction)
+    return direction
+
+# Main program loop
+while True:
+    temp = checkTemp()
+    humidity = checkHumidity()
+    pressure = checkBarometer()
+    speed = checkWindSpeed()
+    direction = checkWindDirection()
+
+    os.system("clear")
+    print "Current Conditions"
+    print "----------------------------------------"
+    print "Temperature:        ", str(temp)
+    print "Humidity:        ", str(humidity)
+    print "Pressure:        ", str(pressure)
+    print "Wind Speed:        ", str(speed)
+    print "Wind Direction:  ", str(direction)
+
+    time.sleep(30)