education/robotics/wedo.sh

   1 #!/bin/bash
   2 #script για τον έλεγχο του κινητήρα του wedo 2.0
   3 #Copyright Parafestas Nikos 2025  totsipaki.net
   4
   5 #This program is free software: you can redistribute it and/or modify
   6 #it under the terms of the GNU General Public License as published by
   7 #the Free Software Foundation, either version 3 of the License, or
   8 #(at your option) any later version.
   9
  10 #This program is distributed in the hope that it will be useful,
  11 #but WITHOUT ANY WARRANTY; without even the implied warranty of
  12 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13 #GNU General Public License for more details.
  14
  15 #You should have received a copy of the GNU General Public License
  16 #along with this program.  If not, see <http://www.gnu.org/licenses/>.
  17
  18 WEDO_MAC="XX:XX:XX:XX:XX:XX" #find it with bluetoothctl --> scan on --> devices
  19 HANDLE="0x003d"
  20 KEEP_ALIVE_INTERVAL=1
  21
  22 # Συνάρτηση καθαρισμού
  23 cleanup() {
  24     stop_motor
  25     if [ -n "$MOTOR_PID" ]; then
  26         kill $MOTOR_PID 2>/dev/null
  27     fi
  28     echo -e "\nΤερματισμός προγράμματος..."
  29     exit 0
  30 }
  31
  32 trap cleanup EXIT INT
  33
  34 # Έλεγχος κινητήρα
  35 stop_motor() {
  36     gatttool -b "$WEDO_MAC" --char-write-req -a "$HANDLE" -n 01010100 >/dev/null 2>&1
  37     echo "Ο κινητήρας σταμάτησε"
  38 }
  39
  40 start_motor() {
  41     while true; do
  42         gatttool -b "$WEDO_MAC" --char-write-req -a "$HANDLE" -n 010101$1 >/dev/null 2>&1
  43         sleep $KEEP_ALIVE_INTERVAL
  44     done
  45 }
  46
  47 # Εμφάνιση οδηγιών
  48 clear
  49 echo "========================================"
  50 echo " Έλεγχος Κινητήρα LEGO WeDo 2.0"
  51 echo "========================================"
  52 echo -e "Χρησιμοποιήστε:\n -> Δεξί Βέλος: Κίνηση Εμπρός\n <- Αριστερό Βέλος: Κίνηση Πίσω\n X: Διακοπή κινητήρα\n Ctrl+C: Έξοδος\n"
  53
  54 # Ανάγνωση πλήκτρων
  55 read_key() {
  56     IFS= read -rsn1 key
  57     if [[ $key == $'\x1b' ]]; then
  58         read -rsn2 key
  59         case $key in
  60             "[C") echo "right" ;;
  61             "[D") echo "left" ;;
  62         esac
  63     else
  64         [[ $key == "x" ]] && echo "stop" || echo ""
  65     fi
  66 }
  67
  68 # Κύρια λειτουργία
  69 while true; do
  70     case $(read_key) in
  71         "right")
  72             [ -n "$MOTOR_PID" ] && kill $MOTOR_PID 2>/dev/null
  73             start_motor 64 &
  74             MOTOR_PID=$!
  75             echo "Κίνηση Εμπρός"
  76             ;;
  77         "left")
  78             [ -n "$MOTOR_PID" ] && kill $MOTOR_PID 2>/dev/null
  79             start_motor 9C &
  80             MOTOR_PID=$!
  81             echo "Κίνηση Πίσω"
  82             ;;
  83         "stop")
  84             stop_motor
  85             [ -n "$MOTOR_PID" ] && kill $MOTOR_PID 2>/dev/null
  86             MOTOR_PID=""
  87             ;;
  88     esac
  89 done