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 scratch_line_sensor

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#!/usr/bin/env python

# This is a basic example for a socket server for the GoPiGo.

# This allows the client to connects can be used to respond to the commands and run the GoPiGo

# the socket server is running on Port 5005 on localhost

# Send a single byte command to the server from the client:

# s - stop

# f - move forward

# b - move back

# l - turn left

# r - turn right

'''

## License

GoPiGo for the Raspberry Pi: an open source robotics platform for the Raspberry Pi.

Copyright (C) 2015 Dexter Industries

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program. If not, see <http://www.gnu.org/licenses/gpl-3.0.txt>.

'''

import socket

import gopigo

# Listen on localhost at port 5005

TCP_IP = '127.0.0.1'

TCP_PORT = 5005

BUFFER_SIZE = 20

# Create a TCP socket and bind the server to the port

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

s.bind((TCP_IP, TCP_PORT))

print "Server Started"

while True:

#Wait for incomming connections

s.listen(1)

#Accept an incoming connection

conn, addr = s.accept()

print '\nConnection address:', addr

while 1:

#Check the data

data = conn.recv(BUFFER_SIZE)

if not data: break

print "received data:", data

if len(data) <> 1:

print ("Invalid command")

conn.send("Invalid command")

elif data=='f':

gopigo.fwd()

conn.send("Moving forward")

elif data=='s':

gopigo.stop()

conn.send("Stopping")

elif data=='b':

gopigo.bwd()

conn.send("Moving back")

elif data=='l':

gopigo.left()

conn.send("Turning left")

elif data=='r':

gopigo.right()

conn.send("Turning right")

else:

print ("Invalid command")

conn.send("Invalid command")

conn.close()