The scripts and programs written by the SFXRescue team for the SART v.2 rescue robot.
Current contains the code that is run on the robot. One should be able to simply download the "Current" folder and move all the scripts to the appropriate locations to expect a functional robot.
- html/index.php: The default interface page containing the structure of the page and some JavaScript.
- html/controlscript.php: JavaScript file that listens to keystrokes and sends a movement type and speed to the websocket server run by movement.py. The PHP file extension lets the server pass the IP.
- html/downloadsnapshot.php: PHP file that allows for the download of a camera image outside the web directory
- html/performance.php: Displayed in index.php via an iFrame. Updates with system resource info. Needs to be redone using WebSockets.
- html/rawdata.php: Short script receives data from a WebSocket and appends it to a scroller div in index.php
- html/restart.php: Restart program
- html/shutdown.php: Shutdown program
- python/servo_party.py: This script controls the movement of the robot. It has 3 dependancies: pyax12, asyncio and websockets.
- python/sensor_party_server.py: This script creates a websocket server to send sensor data collected from the robot to the control panel. It has 3 dependancies: pyserial, asyncio and websockets.
- python/performance_party_data.py: This script creates a websocket server to send robot performance data to be displayed on the control panel. It has 3 dependancies: psutil, asyncio and websockets.
- python/servo_party_data.py: This script creates a websocket server to send servo performance data to the control panel to be displayed. It has 3 dependancies: pyax12, asyncio and websockets.
- Websocket ports include: servo_party = 5555, servo_party_data = 5556, sensor_party_server = 5557 and performance_party_data = 5558
- arduino/sensor_party.ino:
- Libraries:
- Sensor IR: https://github.com/guillaume-rico/SharpIR
- Compass: https://github.com/adafruit/Adafruit_LSM303DLHC
- Adafruit Sensor Library: https://github.com/adafruit/Adafruit_Sensor
- Temp Sensor: https://github.com/adafruit/Adafruit-MLX90614-Library
- Libraries:
Testing contains old code or test scripts that for whatever reason still need to be used.
- html/websockettest.html: Companion HTML file for websockettest.py. Testing script for the websocket.
- python/tests/websockettest.py: Companion Python file for websockettest.py. Testing script for the websocket.
Retired contains code that is not used in the current project or testing but may need to be referred to.