CoderBotOrg
diff --git a/‎coderbot.py‎
Lines changed: 8 additions & 0 deletions b/‎coderbot.py‎
Lines changed: 8 additions & 0 deletions
diff --git a/‎main.py‎
Lines changed: 2 additions & 2 deletions b/‎main.py‎
Lines changed: 2 additions & 2 deletions
diff --git a/‎signal_reader.py‎
Lines changed: 13 additions & 5 deletions b/‎signal_reader.py‎
Lines changed: 13 additions & 5 deletions
diff --git a/‎static/.DS_Store‎
0 Bytes b/‎static/.DS_Store‎
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diff --git a/‎coderbot/.DS_Store‎ ‎static/css/.DS_Store‎coderbot/.DS_Store renamed to static/css/.DS_Store b/‎coderbot/.DS_Store‎ ‎static/css/.DS_Store‎coderbot/.DS_Store renamed to static/css/.DS_Store
diff --git a/‎static/css/bootstrap.min.css‎
Lines changed: 7 additions & 0 deletions b/‎static/css/bootstrap.min.css‎
Lines changed: 7 additions & 0 deletions
diff --git a/‎static/fonts/.DS_Store‎
6 KB b/‎static/fonts/.DS_Store‎
6 KB
diff --git a/‎static/fonts/glyphicons-halflings-regular.eot‎
19.8 KB b/‎static/fonts/glyphicons-halflings-regular.eot‎
19.8 KB
diff --git a/‎static/fonts/glyphicons-halflings-regular.svg‎
Lines changed: 229 additions & 0 deletions b/‎static/fonts/glyphicons-halflings-regular.svg‎
Lines changed: 229 additions & 0 deletions
diff --git a/‎static/fonts/glyphicons-halflings-regular.ttf‎
40.3 KB b/‎static/fonts/glyphicons-halflings-regular.ttf‎
40.3 KB
@@ -16,6 +16,14 @@ def __init__(self):
     pigpio.write(PIN_LEFT_BACKWARD, 0)
     pigpio.write(PIN_RIGHT_BACKWARD, 0)
 
+  the_bot = None
+
+  @classmethod
+  def get_instance(cls):
+	if not cls.the_bot:
+	  cls.the_bot = CoderBot()
+    return cls.the_bot
+    
   def forward(self, seconds):
     pigpio.write(PIN_MOTOR_ENABLE, 1)
     pigpio.write(PIN_LEFT_FORWARD, 1)
 
@@ -3,8 +3,8 @@
 
 from flask import Flask, render_template, request
 
-#signal = signal_reader.SignalReader()
-bot = coderbot.CoderBot()
+signal = signal_reader.SignalReader.get_instance()
+bot = coderbot.CoderBot.get_instance()
 
 app = Flask(__name__,static_url_path="")
 
 
@@ -7,20 +7,28 @@ class SignalReader(Thread):
 
   def __init__(self):
     self.cam = Camera()
-    time.sleep(2)
     self.streamer = JpegStreamer("0.0.0.0:8090")
-    self.bot = coderbot.CoderBot()
+    self.bot = coderbot.get_instance()
     Thread.__init__(self)
 
   corners = [(160, 0), (480, 0), (460, 480), (180, 480)]
-
+  the_reader = None
+  
+  @classmethod
+  def get_instance(cls) {
+    if not cls.the_reader:
+      cls.the_reader = SignalReader()
+    return cls.the_reader 
+  }
+  
   def start(self):
     self.finish = False
     print "SignalReader starting"
     Thread.start(self)
 
   def stop(self):
     self.finish = True
+    self.join()
 
   def run(self):
     print "run"
@@ -57,13 +65,13 @@ def run(self):
       if lineAngle:
         if lineAngle > -30 and lineAngle < 30:
           print "turn right"
-          self.bot.right(2)
+          self.bot.right(1.8)
         elif lineAngle < -60 and lineAngle > -120:
           print "go forward"
           self.bot.forward(2)
         elif lineAngle > 150 or lineAngle < -150:
           print "turn left"
-          self.bot.left(2)
+          self.bot.left(1.8)
         elif lineAngle > 60 and lineAngle < 110:
           print "go backward"
           self.bot.backward(2)