.gitignore

@@ -9,4 +9,3 @@ __pycache__
 *.png
 *.jpg
 *.wav
-*.pdf

README.md

@@ -1,7 +0,0 @@
-# To install on robot
-
-```
-git clone <url>
-cd lewis-crawler/crawler_software/raspberry_pi
-make install?
-```

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -10,28 +10,16 @@
 // This servo is used to wipe and clean the camera lens
 Servo windowWiperServo;
 
-// Variables populated over i2c from master
-int id;
-int val;
-
 void setup() {
-  // For debugging
-  //Serial.begin(115200);
-  
   // Attach the wiper servo to pin 9
   windowWiperServo.attach(9);
 
   // This is the address the pi will speak to us at
-  Wire.begin(0x4);
+  Wire.begin(0x8);
   
   // Call receiveEvent when data received                
   Wire.onReceive(receiveEvent);
   
-  // Setup LED
-  pinMode(LED_BUILTIN, OUTPUT);
-  digitalWrite(LED_BUILTIN, LOW);
-
-  //Serial.println("Started");
 }
 
 // Just loop to keep the running code alive, and wait for events to happen.
@@ -40,24 +28,9 @@ void loop() {
 }
 
 // This method runs when we receive a message
-void receiveEvent(int n) {
-  Wire.read(); // Remove smbus trash
-  if (true) { // Dont do anything if this is not true
-    id  = Wire.read(); // ID of the servo/device to access
-    val = Wire.read(); // Value to assign
-
-    //Serial.println(id);
-    //Serial.println(val);
-  
-    switch(id) {
-      case 1:
-        windowWiperServo.write(val);
-        break;
-    }
-  }
-
-  // Prevents a bug where if bytes are left in buffer, arduino crashes.
-  while (Wire.available()) {
-    Wire.read();
+void receiveEvent(int howMany) {
+  while (Wire.available()) { // loop through all but the last
+    int pos = Wire.read(); // receive byte as a int
+    windowWiperServo.write(pos);
   }
 }

crawler_software/raspberry_pi/crawler.service

@@ -1,11 +0,0 @@
-[Unit]
-Description=Crawler service overseer, manages running main crawler software
-After=multi-user.target
-
-[Service]
-Type=simple
-Restart=always
-ExecStart=/usr/bin/python /srv/crawler/crawler.py
-
-[Install]
-WantedBy=multi-user.target

crawler_software/raspberry_pi/tests/discordbot.py

@@ -5,30 +5,18 @@ from gps import *
 from smbus import SMBus
 import time
 
-addr = 0x4 # bus address
+addr = 0x8 # bus address
 bus = SMBus(1) # indicates /dev/ic2-1
 
 numb = 1
 
-def writeData(value):
-    byteValue = StringToBytes(value)    
-    bus.write_i2c_block_data(addr,0x00,byteValue) #first byte is 0=command byte.. just is.
-    return -1
-
-
-def StringToBytes(val):
-        retVal = []
-        for c in val:
-                retVal.append(ord(c))
-        return retVal
-
 try:
     for _x in range (0, 2):
-            for i in range(78, 130):
-                    writeData("WIPE-" + str(i))
+            for i in range(70, 130):
+                    bus.write_byte(addr, i)
                     time.sleep(0.02)
-            for i in range(130, 78, -1):
-                    writeData("WIPE-" + str(i))
+            for i in range(130, 70, -1):
+                    bus.write_byte(addr, i)
                     time.sleep(0.02)
 except OSError:
     print("Could not speak to ardujmemo")

crawler_software/raspberry_pi/tests/stack_overflow.py

@@ -1,20 +0,0 @@
-import smbus
-import time
-import struct
-
-# for RPI version 1, use bus = smbus.SMBus(0)
-bus = smbus.SMBus(1)
-
-# This is the address we setup in the Arduino Program
-address = 0x04
-
-try:
-    for _x in range (0, 2):
-            for i in range(78, 130):
-                    bus.write_i2c_block_data(address, 0, [1, i])
-                    time.sleep(0.02)
-            for i in range(130, 78, -1):
-                    bus.write_i2c_block_data(address, 0, [1, i])
-                    time.sleep(0.02)
-except OSError:
-    print("Could not speak to ardujmemo")