{
    "info": {
        "author": "Yasar \u0130dikut, Sarp Yoel Kastro",
        "author_email": "yasar.idikut@hisarschool.k12.tr, sarp.kastro@hisarschool.k12.tr",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 4 - Beta"
        ],
        "description": "## PiWars T\u00fcrkiye 2019: HisarCS taraf\u0131ndan da\u011f\u0131t\u0131lan robot kitleri i\u00e7in python k\u00fct\u00fcphanesi  \n\nBu python k\u00fct\u00fcphanesi, PiWars T\u00fcrkiye 2019 kat\u0131l\u0131mc\u0131lar\u0131n\u0131n HisarCS taraf\u0131nndan haz\u0131rlanan robot kitlerindeki yaz\u0131l\u0131m\u0131, sens\u00f6rleri ve hareketli par\u00e7alar\u0131 kullanmalar\u0131n\u0131 kolayla\u015ft\u0131rmak amac\u0131yla yap\u0131lm\u0131\u015ft\u0131r.  \n\n\n## Kurulum  \n\nPiWarsTurkiyeRobotKiti2019'u indirmek i\u00e7in [pip](https://pip.pypa.io/en/stable/) paketleme y\u00f6neticisini kullan\u0131n.  \n\n``` \n$ sudo pip install PiWarsTurkiyeRobotKiti2019  \n```  \n\nAlternatif olarak Github'dan indirmek de m\u00fcmk\u00fcn.  \n```bash git clone https://github.com/HisarCS/PiWarsTurkey-Library-Folders.git  \n$ cd PiWarsTurkey-Library-Folders  \n$ sudo python setup.py install  \n```  \n\n## Kullan\u0131m  \n\n```python  \nimport PiWarsTurkiyeRobotKiti2019  \n```  \n## Belgeleme  \n\n\u015eu anda bu k\u00fct\u00fcphanede 5 s\u0131n\u0131f bulunmaktad\u0131r:  \n- HizlandirilmisPiKamera (Pi Kamera ve opencv kullanmay\u0131 basitle\u015ftirmek ve optimize etmek i\u00e7in)  \n- Kumanda (pygame'in Joystick s\u0131n\u0131f\u0131n\u0131 PS3 sixaxis kumandalar ile kullanmay\u0131 basitle\u015ftirmek i\u00e7in)  \n- MotorKontrol (Raspberry Pi i\u00e7in Pololu DRV8835 motor s\u00fcr\u00fcc\u00fc devresinin kullan\u0131m\u0131n\u0131 kolayla\u015ft\u0131rmak i\u00e7in)  \n- ServoKontrol (Raspberry Pi'\u0131n GPIO pinleri ile servo kontrol etmeyi kolayla\u015ft\u0131rmak i\u00e7in)  \n- UltrasonikSensoru (Raspberry Pi'\u0131n GPIO pinleri ile HC-SR04 ultrasonik uzakl\u0131k sens\u00f6r\u00fcn\u00fc kullanmay\u0131 kolayla\u015ft\u0131rmak i\u00e7in)  \n\nPerformans sebeplerinden dolay\u0131 s\u0131n\u0131flar\u0131n bir k\u0131sm\u0131 multithreading kullanmaktad\u0131r. Bu yaz\u0131l\u0131m\u0131n bir k\u0131sm\u0131n\u0131n di\u011ferlerinin performans\u0131n\u0131 de\u011fi\u015ftirmesini engellemek i\u00e7indir. Multithreading \u00f6zellikle kullan\u0131ld\u0131\u011f\u0131 s\u0131n\u0131flar HizlandirilmisPiKamera (hem g\u00f6r\u00fcnt\u00fcy\u00fc almak hem g\u00f6stermek i\u00e7in), Kumanda (s\u00fcrekli olarak kumanda de\u011ferlerini almak i\u00e7in) ve ServoKontrol (i\u00e7indeki sleep fonksiyonlar\u0131n\u0131n ana threadi durdurmas\u0131n\u0131 engellemek i\u00e7in).  \n\nHizlandirilmisPiKamera:  \n-  \n- Metodlar  \n```python  \n__veriGuncelle__()  \n```  \nPi Kameradan gelen verileri bir while loop'un i\u00e7erisinde g\u00fcnceller.  Ana threadde \u00e7a\u011f\u0131rmak **tavsiye edilmez** \u00e7\u00fcnk\u00fc program bu sat\u0131rda tak\u0131lacakt\u0131r.  \n\n```python  \nveriOkumayaBasla()  \n```  \nAna threadi yava\u015flatmadan veriyi g\u00fcncellemek i\u00e7in yeni bir threadde ``` __veriGuncelle__()``` fonksiyonunu \u00e7a\u011f\u0131r\u0131r.  Bunu sadece ba\u015flang\u0131\u00e7ta kullanarak program\u0131n her yerinde kamera verilerine ula\u015fabilirsiniz.\n\n```python  \nveriOku()  \n```  \nNumPy listesi olarak kameran\u0131n o andaki de\u011ferlerini geri d\u00f6nd\u00fcr\u00fcr.  Bu d\u00f6nd\u00fcrd\u00fc\u011f\u00fc NumPy listesi ise yukar\u0131da bahsedildi\u011fi gibi ``` __veriGuncelle__()``` fonksiyonunda bir while loop i\u00e7erisinde her zaman yenilenir.\n\n```python  \n__kareyiGostermeyiGuncelle__()  \n```  \ngirilen parametreler dahilinde yeni opencv pencereleri a\u00e7ar ve pencereyi bir while loop i\u00e7erisinde g\u00fcnceller. \"q\" tu\u015fu ile pencere kapat\u0131labilir.  Ana threadde \u00e7a\u011f\u0131rmak **tavsiye edilmez** \u00e7\u00fcnk\u00fc program bu sat\u0131rda tak\u0131lacakt\u0131r.  \n\n```python  \nkareyiGoster()  \n```  \nAna threadi yava\u015flatmadan bir pencere a\u00e7mak i\u00e7in  ``` __kareyiGostermeyiGuncelle__()``` fonksiyonunu ba\u015fka bir threadde \u00e7a\u011f\u0131r\u0131r.  \u0130ki parametre al\u0131r ve bunlar da pencerenin ismi ve pencerede g\u00f6sterilecek g\u00f6r\u00fcnt\u00fcd\u00fcr. Farkl\u0131 pencere isimleri ve g\u00f6r\u00fcnt\u00fcleri kullanarak ve bunlar\u0131 da bir while loop i\u00e7eirisinde \u00e7a\u011f\u0131rarak g\u00f6sterilecek olan g\u00f6r\u00fcnt\u00fcleri g\u00fcncelleyebilirsiniz. E\u011fer parametre olarak hi\u00e7bir \u015fey girilmezse fonksiyon varsay\u0131lan olarak kameran\u0131n ham g\u00f6r\u00fcnt\u00fcs\u00fcn\u00fc 'frame' isimli bir pencerede g\u00f6stermeye ba\u015flar.\n\n- \u00d6rnek Kullan\u0131m  \n```python  \nfrom PiWarsTurkiyeRobotKiti2019 import HizlandirilmisPiKamera  \nimport imutils\nfrom time import sleep\n\ncamera = HizlandirilmisPiKamera()\ncamera.veriOkumayaBasla()\nsleep(1)\n\nwhile True:\n\tcamera.kareyiGoster()\n```  \nYukar\u0131daki \u00f6rnek yeni bir HizlandirilmisPiKamera objesi olu\u015fturur, ``` veriOkumayaBasla()```   fonksiyonu ile kameradan verileri almaya ba\u015flar ve while loop'un i\u00e7inde de ``` kareyiGoster()```  fonksiyonu ile okunan verileri ekranda 'frame' isimli pencere olu\u015fturup kameradan okunan ham verileri g\u00f6sterir.\n\nKamera objesi \u00e7a\u011f\u0131r\u0131l\u0131nca varsay\u0131lan \u00e7\u00f6z\u00fcn\u00fcrl\u00fck 640x480 dir. E\u011fer ba\u015fka bir \u00e7\u00f6z\u00fcn\u00fcrl\u00fck istiyorsan\u0131z, \u00f6rne\u011fin 1280x720, kamera objesini bu \u015fekilde olu\u015fturabilirsiniz:    \n\n``` camera = HizlandirilmisPiKamera(cozunurluk=(1280, 720))```  \n\nE\u011fer ki sonradan yapt\u0131\u011f\u0131n\u0131z g\u00f6r\u00fcnt\u00fc i\u015fleme ad\u0131mlar\u0131n\u0131z\u0131 da ayr\u0131 pencerelerde g\u00f6stermek istiyorsan\u0131z ```kareyiGoster()```  fonksiyonunu birka\u00e7 kez kullanarak kodunuzu yava\u015flatmadan pencereleri ayr\u0131 bir thread'de \u00e7al\u0131\u015ft\u0131rabilirsiniz. Bunun i\u00e7in a\u015fa\u011f\u0131daki kodu referans alabilirsiniz.\n\n```python  \nfrom PiWarsTurkiyeRobotKiti2019 import HizlandirilmisPiKamera  \nimport imutils\nimport cv2\nfrom time import sleep\n\nkamera = HizlandirilmisPiKamera()\nkamera.veriOkumayaBasla()\nsleep(1)\n\nwhile True:\n\tkamera.kareyiGoster()\n\tyenidenBoyutlandirilmis = imutils.resize(kamera.veriOku(), width=300)\n\tkamera.kareyiGoster(\"yenidenBoyutlandirilmis\", yenidenBoyutlandirilmis)\n\tgri = cv2.cvtColor(kamera.veriOku(), cv2.COLOR_BGR2GRAY)\n\tkamera.kareyiGoster(\"siyah - beyaz\", gri)\n```  \nYukar\u0131dan da g\u00f6r\u00fcld\u00fc\u011f\u00fc gibi, ```kareyiGoster()```  fonksiyonunu birka\u00e7 kez kullanarak g\u00f6r\u00fcnt\u00fc i\u015fleme algoritman\u0131zdaki farkl\u0131 a\u015famalar\u0131 ekranda izleyebilirsiniz. Ayr\u0131ca yukar\u0131daki programda, ilk kez ```veriOku()``` fonksiyonunu kullanmaktay\u0131z. Fonksiyon a\u00e7\u0131klamalar\u0131nda da belirtildi\u011fi gibi, bize, kameran\u0131n o andaki g\u00f6rd\u00fc\u011f\u00fc g\u00f6r\u00fcnt\u00fcs\u00fcn\u00fc geri d\u00f6nd\u00fcr\u00fcr. Biz de bunu kullanarak resmimizi yeniden boyutland\u0131rabiliyoruz.\n\nKumanda  \n-  \n- Metodlar  \n```python  \n__yenile__()  \n```  \nKumandadan al\u0131nan verileri bir while d\u00f6ng\u00fcs\u00fc i\u00e7erisinde yeniler. Ana threadde \u00e7a\u011f\u0131rmak **tavsiye edilmez** \u00e7\u00fcnk\u00fc program bu sat\u0131rda tak\u0131lacakt\u0131r.  \n\n```python  \ndinlemeyeBasla()  \n```  \n```__yenile__()``` metodunu ayr\u0131 bir thread \u00fczerinde \u00e7a\u011f\u0131rarak ana thread'in kullan\u0131labilmesini sa\u011flar.   \n\n```python  \nsolVerileriOku()  \n```  \nSoldaki joystick de\u011ferlerini iki float de\u011feri, x ve y, olarak verir.  \n\n```python  \nsagVerileriOku()  \n```  \nSa\u011fdaki joystick de\u011ferlerini iki float de\u011feri, x ve y, olarak verir.  \n\n```python  \nbutonlariOku()  \n```  \nBas\u0131lan b\u00fct\u00fcn d\u00fc\u011fmeleri say\u0131 de\u011feri olarak bir arrayde geri verir.  \n\n```python  \nverileriOku()  \n```  \nKumandan\u0131n b\u00fct\u00fcn de\u011ferlerini tuple tipinde geri verir ```(python solVerileriOku(), python sagVerileriOku(), python butonlariOku())```  \n\n- \u00d6rnek Kullan\u0131m  \n```python  \nimport PiWarsTurkiyeRobotKiti2019  \n\njoystik = PiWarsTurkiyeRobotKiti2019.Kumanda()  \njoystik.dinlemeyeBasla()  \n\nwhile True:  \n\tlx, ly = joystik.solVerileriOku()  \n\trx, ry = joystik.sagVerileriOku()  \n\tbuttons = joystik.butonlariOku()  \n\n\tprint(\"Sa\u011f joystik de\u011ferleri: \", lx, ly)  \n\tprint(\"Sol joystik de\u011ferleri: \", rx, ry)  \n\n\tif(0 in buttons):  \n\t\tprint(\"0 Butonu bas\u0131ld\u0131!\")  \n```  \nYukar\u0131daki kod bir Kumanda objesi olu\u015fturur ve sol ve sa\u011f joysticklerin de\u011ferlerini ekrana basarken ayn\u0131 zamanda belirlenmi\u015f bir stringi bir d\u00fc\u011fmeye bas\u0131ld\u0131\u011f\u0131nda ekrana basar. ```dinlemeyeBasla()``` metodunun veri alabilmek i\u00e7in ana kod ba\u015flat\u0131ld\u0131\u011f\u0131nda \u00e7a\u011f\u0131r\u0131lmas\u0131 gerekti\u011fini unutmay\u0131n\u0131z.  \n\nMotorKontrol  \n-  \n- Metodlar  \n```python  \nhizlariAyarla(sagHiz, solHiz)  \n```  \npololu-drv8835-rpi k\u00fct\u00fcphanesini kullanarak motorlar\u0131n h\u0131z\u0131n\u0131 ayarlar. H\u0131z -480'den +480'e kadar de\u011ferler olarak verilebilir (-480 geriye do\u011fru tam h\u0131z olur). Sa\u011f ve sol h\u0131z de\u011ferleri motor s\u00fcr\u00fcc\u00fcs\u00fcn\u00fcn birinci ve ikinci motorlar\u0131na denk gelir.  \n\n```python  \nkumandaVerisiniMotorVerilerineCevirme(x, y)  \n```  \nMotor h\u0131z de\u011ferlerini kumanda verisine dayanarak geri verir. x ve y, kumandan\u0131n joystick x ve y de\u011ferlerini temsil eder ve 0 ve 1 aras\u0131nda bir de\u011fer al\u0131r.\n\n- \u00d6rnek Kullan\u0131m  \n```python  \nimport PiWarsTurkiyeRobotKiti2019  \nmotorlar = PiWarsTurkiyeRobotKiti2019.MotorKontrol()  \n\nwhile True:  \n\tmotorlar.hizlariAyarla(480, 480)  \n```  \nBu kod motorlar\u0131 ba\u015flat\u0131r ve ileri do\u011fru tam h\u0131za ayarlar.  \n\n- Kumanda ile \u00d6rnek Kullan\u0131m  \n```python  \nimport PiWarsTurkiyeRobotKiti2019  \n\nmotorlar = PiWarsTurkiyeRobotKiti2019.MotorKontrol()  \n\njoystik = PiWarsTurkiyeRobotKiti2019.Kumanda()  \njoystik.dinlemeyeBasla()  \n\nwhile True:  \n\tlx, ly = joystik.solVerileriOku()  \n\tsagHiz, solHiz = motorlar.kumandaVerisiniMotorVerilerineCevirme(lx, ly)  \n\n\tmotorlar.hizlariAyarla(sagHiz, solHiz)  \n```  \nYukar\u0131daki kod motorlar ve kumanda objelerini ba\u015flat\u0131r ve bir while d\u00f6ng\u00fcs\u00fcn\u00fcn i\u00e7ine girer. D\u00f6ng\u00fcdeyken  ```kumandaVerisiniMotorVerilerineCevirme()``` metodu motorlar\u0131n h\u0131z de\u011ferlerini bulmak i\u00e7in kullan\u0131l\u0131r. \n\nServoKontrol  \n-  \n- Metodlar  \n```python  \nsurekliDonmeyeAyarla()  \ntekDonmeyeAyarla()  \n```  \nServoyu s\u00fcrekli d\u00f6nme ve tek sefer d\u00f6nmeye ayarlar. S\u00fcrekli d\u00f6nme modu dinamik olarak de\u011ferler verilmesini gerektirirken tek d\u00f6nme servoyu verilen a\u00e7\u0131ya getirir ve sonras\u0131nda uykuya ge\u00e7er.  \n\n```python  \naciAyarla(a\u00e7\u0131)  \n```  \nServoyu derece cinsinden verilen a\u00e7\u0131ya \u00e7evirir. Servo tek d\u00f6nmeye ayarl\u0131yken ayr\u0131 bir thread olu\u015fturulur ve servo de\u011feri istenen a\u00e7\u0131ya gelince uyur.  \n\n- \u00d6rnek Kullan\u0131m  \nS\u00fcrekli D\u00f6nme:  \n```python  \nimport PiWarsTurkiyeRobotKiti2019  \nfrom time import sleep\n\nservo = PiWarsTurkiyeRobotKiti2019.ServoKontrol()  \nservo.surekliDonmeyeAyarla()  \n\naci = 0  \nekle = 0  \n\nwhile True:  \n\tservo.aciAyarla(angle)  \n\n\tif(angle == 180):  \n\t\tadd = -1  \n\telif(angle == 0):  \n\t\tadd = 1  \n\tangle += add  \n\tsleep(0.05)\n```  \nBu durumda servo s\u00fcrekli d\u00f6nmeye ayarl\u0131d\u0131r. Bir while d\u00f6ng\u00fcs\u00fc servonun a\u00e7\u0131s\u0131n\u0131 1er 1er artt\u0131r\u0131r ve servoyu yeni a\u00e7\u0131ya getirir.   \n\nTek D\u00f6nme:  \n```python  \nimport PiWarsTurkiyeRobotKiti2019  \nfrom time import sleep  \n\nservo = PiWarsTurkiyeRobotKiti2019.ServoKontrol()  \nservo.tekDonmeyeAyarla()  \n\nwhile True:  \n\tservo.aciAyarla(180)  \n\tsleep(1)  \n\tservo.aciAyarla(0)  \n\tsleep(1)  \n```  \nBu durumda servo tek d\u00f6nmeye ayarl\u0131d\u0131r. Bir while d\u00f6ng\u00fcs\u00fc servonun a\u00e7\u0131s\u0131n\u0131 1 saniye aral\u0131klarla 180 ve 0 aras\u0131nda de\u011fi\u015ftirir.  \n\nUltrasonikSensoru  \n-  \n- Metodlar  \n```python  \nmesafeOku()  \n```  \nUltrasonik sens\u00f6r\u00fcn \u00f6l\u00e7t\u00fc\u011f\u00fc mesafeyi geri verir.  Kullan\u0131lan sens\u00f6rler \u00e7ok g\u00fcvenilir olmad\u0131\u011f\u0131 i\u00e7in bu fonksiyon birinci parametre olarak son 15 de\u011ferin medyan de\u011ferini geri d\u00f6nd\u00fcr\u00fcr ve ikinci parametre olarak da o andaki okunan as\u0131l de\u011feri geri d\u00f6nd\u00fcr\u00fcr.\n\n- \u00d6rnek Kullan\u0131m  \n```python  \nultra = PiWarsTurkiyeRobotKiti2019.UltrasonikSensoru(38, 40)  \nultra.mesafeOlcmeyeBasla()\nwhile True:  \n\tmedyanDeger, anlikDeger = ultra.mesafeOku()\n\tprint(medyanDeger, anlikDeger)  \n```  \nYukar\u0131daki kod \u00f6l\u00e7\u00fclen mesafeyi \u00f6nce medyan ve sonra anl\u0131k de\u011fer olmak \u00fczere ekrana basar. Yap\u0131c\u0131n\u0131n(constructor), ya da ultra nesnesi olu\u015ftururkenki kulland\u0131\u011f\u0131m\u0131z kod sat\u0131r\u0131,  i\u00e7indeki de\u011ferler ultrasonik sens\u00f6r\u00fcn tak\u0131l\u0131 oldu\u011fu pinlerdir.  \n\n\n## Katk\u0131da Bulunma  \n\u00c7ekme istekleri kabul edilir. B\u00fcy\u00fck de\u011fi\u015fikler i\u00e7in l\u00fctfen \u00f6nce bir issue a\u00e7arak istedi\u011finiz de\u011fi\u015fikli\u011fi anlat\u0131n.  \n\nL\u00fctfen testleri uygun \u015fekilde g\u00fcncelledi\u011finizden emin olun.  \n\n## Lisans  \n[MIT](https://choosealicense.com/licenses/mit/)\n\n\n",
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