July | 2023 | Poly Ed

import os
import picamera
import serial
import time
import board
import adafruit_bmp280
import RPi.GPIO as GPIO


GPIO.setwarnings(False)
#GPIO.setmode(GPIO.BOARD)
GPIO.setup(18, GPIO.OUT, initial=GPIO.LOW)

i2c = board.I2C()
bmp = adafruit_bmp280.Adafruit_BMP280_I2C(i2c)
bmp.sea_level_pressure = 1013.25

camera = picamera.PiCamera()
camera.resolution = (1280, 720)
camera.rotation = 180
framerate = 5
camera.framerate = framerate
camera.annotate_text_size = 18

gps = "GPS Data"
gpsPort = "/dev/ttyACM0"
gpsSerial = serial.Serial(gpsPort, baudrate = 9600, timeout = 0.5)

def getPicture(annotation):
    filename = "/home/pi/Pictures/" + str(time.strftime("%Y-%m-%d_%H:%M:%S", time.localtime())) + ".jpg"

    try:
        camera.start_preview()
        time.sleep(2.5)
        camera.annotate_text = annotation
        camera.capture(filename)
        camera.stop_preview()
    except Exception as error:
        return(error)
       
        camera.stop_preview()

    return filename

def getVideo(length):
    filename = "/home/pi/Videos/" + str(time.strftime("%Y-%m-%d_%H:%M:%S", time.localtime())) + ".mp4"
   
    try:
        camera.start_recording("/home/pi/testVideo.h264")

        for index in range(length):
            start = time.time()

            camera.annotate_text = (annotate())
           
            end = time.time()
           
            elapsed = start - end

            if elapsed <= 1:
                time.sleep(1 - elapsed)
       
        camera.stop_recording()
    except Exception as error:
        return(error)

    os.system("ffmpeg -r " + str(framerate) + " -i /home/pi/testVideo.h264 -vcodec copy " + filename)
    os.system("del /home/pi/testVideo.h264")
   
    return filename

def gpgga():
    output = ""
    emailgps = ""
    try:
        n = 1
        while output == "" and n<50:
            gps = str(gpsSerial.readline())
            #print(n)
            if (gps[2:8] == "$GPGGA" or gps[2:8] == "$GNGGA"):
                gps = gps.split(",")
                #lat long formatted for digital maps
                latgps = gps[2][0:2] + ' ' + gps[2][2:]
                longgps = '-'+gps[4][1:3] + ' ' + gps[4][3:]
                emailgps = latgps+','+longgps

                latDeg = int(gps[2][0:2])
                latMin = int(gps[2][2:4])
                latSec = round(float(gps[2][5:9]) * (3/500))
                latNS = gps[3]
                output += "Latitude: " + str(latDeg) + " deg " + str(latMin) + "'" + str(latSec) + '" ' + latNS + "\n"
               
                longDeg = int(gps[4][0:3])
                longMin = int(gps[4][3:5])
                longSec = round(float(gps[4][6:10]) * (3/500))
                longEW = gps[5]
                output += "Longitude: " + str(longDeg) + " deg " + str(longMin) + "'" + str(longSec) + '" ' + longEW + "\n"
               
                alt = float(gps[9])
                output += "Altitude: " + str(alt) + " m" + "\n"

                sat = int(gps[7])
                output += "Satellites: " + str(sat)
            n+=1
        return [output,emailgps]
    except Exception as error:
        return ["",""]

def gprmc():
    output = ""
   
    try:
        n = 1
        while output == "" and n<50:
            #print(n)
            gps = str(gpsSerial.readline())
           
            if gps[2:8] == "$GPRMC" or gps[2:8] == "$GNRMC":
                gps = gps.split(",")

                output = ""

                speed = round(float(gps[7]) * 1852)/1000
                output += "Speed: " + str(speed) + " km/h"
            n+=1
        return output
       
    except Exception as error:
        return("")

def gps():
    try:
        output = gpgga()[0] + "\n" + gprmc()
        return output
    except Exception as error:
        return("")

def accurate_altitude():
    try:
        output = 'BMP280 Altitude: {} m'.format(round(bmp.altitude))
        return output
    except Exception as error:
        return("")

def annotate():
    timeNow = str(time.strftime("%a %d %b %Y %H:%M:%S", time.localtime()))
    locationNow = gps()
    bmpa = accurate_altitude()
    annotation = timeNow + "\n" + locationNow + "\n" + bmpa
    return annotation


def flyBalloon():
    while True:
        try:      
            getVideo(10) #40
            GPIO.output(18, GPIO.HIGH)
            getPicture("")
            getPicture(annotate())
            GPIO.output(18,GPIO.LOW)
        except Exception as error:
            return(error)

flyBalloon()

&lt;/div&gt;
# Maze generator -- Randomized Prim Algorithm

## Imports
import random
import time
from colorama import init
from colorama import Fore, Back, Style

## Functions
def printMaze(maze):
	for i in range(0, height):
		for j in range(0, width):
			if (maze[i][j] == 'u'):
				print(Fore.WHITE + str(maze[i][j]), end=" ")
			elif (maze[i][j] == 'c'):
				print(Fore.GREEN + str(maze[i][j]), end=" ")
			else:
				print(Fore.RED + str(maze[i][j]), end=" ")
			
		print('\n')

# Find number of surrounding cells
def surroundingCells(rand_wall):
	s_cells = 0
	if (maze[rand_wall[0]-1][rand_wall[1]] == 'c'):
		s_cells += 1
	if (maze[rand_wall[0]+1][rand_wall[1]] == 'c'):
		s_cells += 1
	if (maze[rand_wall[0]][rand_wall[1]-1] == 'c'):
		s_cells +=1
	if (maze[rand_wall[0]][rand_wall[1]+1] == 'c'):
		s_cells += 1

	return s_cells


## Main code
# Init variables
wall = 'w'
cell = 'c'
unvisited = 'u'
height = 11
width = 27
maze = []

# Initialize colorama
init(convert=True)

# Denote all cells as unvisited
for i in range(0, height):
	line = []
	for j in range(0, width):
		line.append(unvisited)
	maze.append(line)

# Randomize starting point and set it a cell
starting_height = int(random.random()*height)
starting_width = int(random.random()*width)
if (starting_height == 0):
	starting_height += 1
if (starting_height == height-1):
	starting_height -= 1
if (starting_width == 0):
	starting_width += 1
if (starting_width == width-1):
	starting_width -= 1

# Mark it as cell and add surrounding walls to the list
maze[starting_height][starting_width] = cell
walls = []
walls.append([starting_height - 1, starting_width])
walls.append([starting_height, starting_width - 1])
walls.append([starting_height, starting_width + 1])
walls.append([starting_height + 1, starting_width])

# Denote walls in maze
maze[starting_height-1][starting_width] = 'w'
maze[starting_height][starting_width - 1] = 'w'
maze[starting_height][starting_width + 1] = 'w'
maze[starting_height + 1][starting_width] = 'w'

while (walls):
	# Pick a random wall
	rand_wall = walls[int(random.random()*len(walls))-1]

	# Check if it is a left wall
	if (rand_wall[1] != 0):
		if (maze[rand_wall[0]][rand_wall[1]-1] == 'u' and maze[rand_wall[0]][rand_wall[1]+1] == 'c'):
			# Find the number of surrounding cells
			s_cells = surroundingCells(rand_wall)

			if (s_cells < 2):
				# Denote the new path
				maze[rand_wall[0]][rand_wall[1]] = 'c'

				# Mark the new walls
				# Upper cell
				if (rand_wall[0] != 0):
					if (maze[rand_wall[0]-1][rand_wall[1]] != 'c'):
						maze[rand_wall[0]-1][rand_wall[1]] = 'w'
					if ([rand_wall[0]-1, rand_wall[1]] not in walls):
						walls.append([rand_wall[0]-1, rand_wall[1]])


				# Bottom cell
				if (rand_wall[0] != height-1):
					if (maze[rand_wall[0]+1][rand_wall[1]] != 'c'):
						maze[rand_wall[0]+1][rand_wall[1]] = 'w'
					if ([rand_wall[0]+1, rand_wall[1]] not in walls):
						walls.append([rand_wall[0]+1, rand_wall[1]])

				# Leftmost cell
				if (rand_wall[1] != 0):	
					if (maze[rand_wall[0]][rand_wall[1]-1] != 'c'):
						maze[rand_wall[0]][rand_wall[1]-1] = 'w'
					if ([rand_wall[0], rand_wall[1]-1] not in walls):
						walls.append([rand_wall[0], rand_wall[1]-1])
			

			# Delete wall
			for wall in walls:
				if (wall[0] == rand_wall[0] and wall[1] == rand_wall[1]):
					walls.remove(wall)

			continue

	# Check if it is an upper wall
	if (rand_wall[0] != 0):
		if (maze[rand_wall[0]-1][rand_wall[1]] == 'u' and maze[rand_wall[0]+1][rand_wall[1]] == 'c'):

			s_cells = surroundingCells(rand_wall)
			if (s_cells < 2):
				# Denote the new path
				maze[rand_wall[0]][rand_wall[1]] = 'c'

				# Mark the new walls
				# Upper cell
				if (rand_wall[0] != 0):
					if (maze[rand_wall[0]-1][rand_wall[1]] != 'c'):
						maze[rand_wall[0]-1][rand_wall[1]] = 'w'
					if ([rand_wall[0]-1, rand_wall[1]] not in walls):
						walls.append([rand_wall[0]-1, rand_wall[1]])

				# Leftmost cell
				if (rand_wall[1] != 0):
					if (maze[rand_wall[0]][rand_wall[1]-1] != 'c'):
						maze[rand_wall[0]][rand_wall[1]-1] = 'w'
					if ([rand_wall[0], rand_wall[1]-1] not in walls):
						walls.append([rand_wall[0], rand_wall[1]-1])

				# Rightmost cell
				if (rand_wall[1] != width-1):
					if (maze[rand_wall[0]][rand_wall[1]+1] != 'c'):
						maze[rand_wall[0]][rand_wall[1]+1] = 'w'
					if ([rand_wall[0], rand_wall[1]+1] not in walls):
						walls.append([rand_wall[0], rand_wall[1]+1])

			# Delete wall
			for wall in walls:
				if (wall[0] == rand_wall[0] and wall[1] == rand_wall[1]):
					walls.remove(wall)

			continue

	# Check the bottom wall
	if (rand_wall[0] != height-1):
		if (maze[rand_wall[0]+1][rand_wall[1]] == 'u' and maze[rand_wall[0]-1][rand_wall[1]] == 'c'):

			s_cells = surroundingCells(rand_wall)
			if (s_cells < 2):
				# Denote the new path
				maze[rand_wall[0]][rand_wall[1]] = 'c'

				# Mark the new walls
				if (rand_wall[0] != height-1):
					if (maze[rand_wall[0]+1][rand_wall[1]] != 'c'):
						maze[rand_wall[0]+1][rand_wall[1]] = 'w'
					if ([rand_wall[0]+1, rand_wall[1]] not in walls):
						walls.append([rand_wall[0]+1, rand_wall[1]])
				if (rand_wall[1] != 0):
					if (maze[rand_wall[0]][rand_wall[1]-1] != 'c'):
						maze[rand_wall[0]][rand_wall[1]-1] = 'w'
					if ([rand_wall[0], rand_wall[1]-1] not in walls):
						walls.append([rand_wall[0], rand_wall[1]-1])
				if (rand_wall[1] != width-1):
					if (maze[rand_wall[0]][rand_wall[1]+1] != 'c'):
						maze[rand_wall[0]][rand_wall[1]+1] = 'w'
					if ([rand_wall[0], rand_wall[1]+1] not in walls):
						walls.append([rand_wall[0], rand_wall[1]+1])

			# Delete wall
			for wall in walls:
				if (wall[0] == rand_wall[0] and wall[1] == rand_wall[1]):
					walls.remove(wall)


			continue

	# Check the right wall
	if (rand_wall[1] != width-1):
		if (maze[rand_wall[0]][rand_wall[1]+1] == 'u' and maze[rand_wall[0]][rand_wall[1]-1] == 'c'):

			s_cells = surroundingCells(rand_wall)
			if (s_cells < 2):
				# Denote the new path
				maze[rand_wall[0]][rand_wall[1]] = 'c'

				# Mark the new walls
				if (rand_wall[1] != width-1):
					if (maze[rand_wall[0]][rand_wall[1]+1] != 'c'):
						maze[rand_wall[0]][rand_wall[1]+1] = 'w'
					if ([rand_wall[0], rand_wall[1]+1] not in walls):
						walls.append([rand_wall[0], rand_wall[1]+1])
				if (rand_wall[0] != height-1):
					if (maze[rand_wall[0]+1][rand_wall[1]] != 'c'):
						maze[rand_wall[0]+1][rand_wall[1]] = 'w'
					if ([rand_wall[0]+1, rand_wall[1]] not in walls):
						walls.append([rand_wall[0]+1, rand_wall[1]])
				if (rand_wall[0] != 0):	
					if (maze[rand_wall[0]-1][rand_wall[1]] != 'c'):
						maze[rand_wall[0]-1][rand_wall[1]] = 'w'
					if ([rand_wall[0]-1, rand_wall[1]] not in walls):
						walls.append([rand_wall[0]-1, rand_wall[1]])

			# Delete wall
			for wall in walls:
				if (wall[0] == rand_wall[0] and wall[1] == rand_wall[1]):
					walls.remove(wall)

			continue

	# Delete the wall from the list anyway
	for wall in walls:
		if (wall[0] == rand_wall[0] and wall[1] == rand_wall[1]):
			walls.remove(wall)
	


# Mark the remaining unvisited cells as walls
for i in range(0, height):
	for j in range(0, width):
		if (maze[i][j] == 'u'):
			maze[i][j] = 'w'

# Set entrance and exit
for i in range(0, width):
	if (maze[1][i] == 'c'):
		maze[0][i] = 'c'
		break

for i in range(width-1, 0, -1):
	if (maze[height-2][i] == 'c'):
		maze[height-1][i] = 'c'
		break

# Print final maze
printMaze(maze)

Poly Ed

Robotics, Mathematics, Science, Engineering, Tutoring

Monthly Archives: July 2023

Balloon Code V3

Prim’s Algorithm Maze Generation