root@clbrobot:/home/ubuntu# rosrun lbtopic2 teleop_twist_keyboard1sonar.py

#!/usr/bin/python
# -*- coding: utf-8 -*-
import time
import RPi.GPIO as GPIO
import numpy as np
trigger_pin = 37
echo_pin = 35

GPIO.setmode(GPIO.BOARD)
GPIO.setup(trigger_pin,GPIO.OUT)
GPIO.setup(echo_pin,GPIO.IN)
GPIO.setwarnings(False)

def send_trigger_pulse():
    GPIO.output(trigger_pin,True)
    time.sleep(0.0001)
    GPIO.output(trigger_pin,False)

def wait_for_echo(value,timeout):
    count = timeout
    while GPIO.input(echo_pin) != value and count>0:
        count = count-1

def get_distance():
    send_trigger_pulse()
    wait_for_echo(True,10000)
    start = time.time()
    wait_for_echo(False,10000)
    finish = time.time()
    pulse_len = finish-start
    distance_cm = pulse_len/0.000058
    return distance_cm

def lbmean(list,len):
    sum=0;
    #b=len(list)
    for i in range(0,len):
        sum+=list[i];
    return(sum/(len*1.0))

def sonar_filter_distance():
    each_value=[]#空列表
    diff_value=[]#空列表，要计算差值
    ev_local=0#最大偏差值的真实下标
    df_local=0
    output_value=0
    #读8次
    for i in range(1,9):
        each_value.append(get_distance())
    each_value.sort()#排序
    #print(each_value)
    #计算差值
    for i in range(0,7):
        diff_value.append(each_value[i+1]-each_value[i])
    #找到最大的差值在each_value的位置
    df_local=diff_value.index(max(diff_value))
    ev_local=df_local+1
    #计算each_value的平均值
    #avr_each=lbmean(each_value)

    # #判断最大差值的数据与平均值的关系
    # if ev_local<4:
    #     output_value=lbmean(each_value[(ev_local+1):],9-ev_local-1)
    # elif ev_local>4:
    #     output_value=lbmean(each_value[:(ev_local)],ev_local)
    # else:
    #     output_value=lbmean(each_value.pop(ev_local),8)
    # return output_value
    if ev_local<4:
        output_value=np.mean(each_value[(ev_local+1):])
    elif ev_local>4:
        output_value=np.mean(each_value[:(ev_local)])
    else:
        output_value=np.mean(each_value.pop(ev_local))
    return output_value

    



    



# while True:
#    print("cm = %f",sonar_filter_distance())
#    time.sleep(1)

#!/usr/bin/env python
import roslib; roslib.load_manifest('teleop_twist_keyboard')
import rospy
import hcsr04
import RPi.GPIO as GPIO
from geometry_msgs.msg import Twist

import sys, select, termios, tty

msg = """
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit
"""

moveBindings = {
		'i':(1,0,0,0),
		'o':(1,0,0,-1),
		'j':(0,0,0,1),
		'l':(0,0,0,-1),
		'u':(1,0,0,1),
		',':(-1,0,0,0),
		'.':(-1,0,0,1),
		'm':(-1,0,0,-1),
		'O':(1,-1,0,0),
		'I':(1,0,0,0),
		'J':(0,1,0,0),
		'L':(0,-1,0,0),
		'U':(1,1,0,0),
		'<':(-1,0,0,0),
		'>':(-1,-1,0,0),
		'M':(-1,1,0,0),
		't':(0,0,1,0),
		'b':(0,0,-1,0),
	       }

speedBindings={
		'q':(1.1,1.1),
		'z':(.9,.9),
		'w':(1.1,1),
		'x':(.9,1),
		'e':(1,1.1),
		'c':(1,.9),
	      }

def getKey():
	tty.setraw(sys.stdin.fileno())
	select.select([sys.stdin], [], [], 0)
	key = sys.stdin.read(1)
	termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
	return key


def vels(speed,turn):
	return "currently:\tspeed %s\tturn %s " % (speed,turn)
def sonar_distance():
	return hcsr04.get_distance()

if __name__=="__main__":
    	settings = termios.tcgetattr(sys.stdin)
	
	pub = rospy.Publisher('cmd_vel', Twist, queue_size = 1)
	rospy.init_node('teleop_twist_keyboard')

	speed = rospy.get_param("~speed", 0.5)
	turn = rospy.get_param("~turn", 1.0)
	x = 0
	y = 0
	z = 0
	th = 0
	status = 0

	try:
		#GPIO.cleanup()
		print msg
		print vels(speed,turn)
		while(1):
			key = getKey()
			sonar_cm = sonar_distance()
			#50cm
			if sonar_cm<50:
				sonar_cm2 = sonar_distance()
				if sonar_cm2<50:
					key = '8'
					print("Dangerous distance is %f\t",sonar_cm2)
			# else:
			# 	key = getKey()
			# 	print("Safe distance isDangerous distance is %f\t",sonar_cm)
			if key in moveBindings.keys():
				x = moveBindings[key][0]
				y = moveBindings[key][1]
				z = moveBindings[key][2]
				th = moveBindings[key][3]
			elif key in speedBindings.keys():
				speed = speed * speedBindings[key][0]
				turn = turn * speedBindings[key][1]

				print vels(speed,turn)
				if (status == 14):
					print msg
				status = (status + 1) % 15
			else:
				x = 0
				y = 0
				z = 0
				th = 0
				if (key == '\x03'):
					break

			twist = Twist()
			twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed;
			twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = th*turn
			pub.publish(twist)
		GPIO.cleanup( (35, 37) )

	except Exception,err:
		print(err)
		#GPIO.cleanup()

	finally:
		twist = Twist()
		twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
		twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
		pub.publish(twist)
		GPIO.cleanup( (35, 37) )
		termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)