├── .gitattributes
├── Chapter02
    ├── Blink.cpp
    ├── SmartLight.cpp
    └── Soft_PWM_Blink.cpp
├── Chapter03
    ├── .gitattributes
    ├── ConstructionOfRobotVideo.mp4
    ├── Forward.cpp
    └── RobotMovement.cpp
├── Chapter04
    ├── DistanceMeasurement.cpp
    ├── I2CLCD.cpp
    ├── I2CLCDdm.cpp
    ├── LCDdisplay.cpp
    ├── LCDdm.cpp
    └── ObstacleAvoiderRobot.cpp
├── Chapter05
    ├── Hello_World.cpp
    ├── LEDBuzzer.cpp
    ├── LEDOnOff
    │   ├── LEDOnOff.pro
    │   ├── LEDOnOff.pro.user
    │   ├── main.cpp
    │   ├── mainwindow.cpp
    │   ├── mainwindow.h
    │   └── mainwindow.ui
    ├── Laptop_Controlled_Rover.cpp
    └── QTRover
    │   ├── QTRover.pro
    │   ├── QTRover.pro.user
    │   ├── main.cpp
    │   ├── mainwindow.cpp
    │   ├── mainwindow.h
    │   └── mainwindow.ui
├── Chapter06
    └── DisplayImage.cpp
├── Chapter07
    ├── BallTracing.cpp
    ├── Camerafeed.cpp
    ├── ObjectDetection.cpp
    ├── ObjectFollowingRobot.cpp
    └── ObjectFollowingRobotwithoutUltrasonic.cpp
├── Chapter08
    ├── FaceDetection.cpp
    ├── Facetrackingrobot.cpp
    └── SmilingFace.cpp
├── Chapter09
    ├── Mic.png
    ├── TalkingPi.aia
    ├── VoiceBot.c
    └── VoiceControlBot.aia
├── LICENSE
└── README.md


/.gitattributes:
--------------------------------------------------------------------------------
1 | *.mp4 filter=lfs diff=lfs merge=lfs -text
2 | .*mp4 filter=lfs diff=lfs merge=lfs -text
3 | 


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/Chapter02/Blink.cpp:
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 1 | #include <iostream>
 2 | #include <wiringPi.h>
 3 | 
 4 | int main(void)
 5 | {
 6 | wiringPiSetup();
 7 | pinMode(15,OUTPUT);
 8 |  
 9 |  for(;;)
10 |  {
11 |  digitalWrite(15,HIGH);
12 |  delay(1000);
13 | digitalWrite(15,LOW);
14 |  delay(1000);
15 |  }
16 | return 0;
17 |  }


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/Chapter02/SmartLight.cpp:
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 1 | #include <iostream>
 2 | #include <wiringPi.h>
 3 | 
 4 | int main(void)
 5 | {
 6 | 
 7 | wiringPiSetup();
 8 | 
 9 | pinMode(0,OUTPUT); 
10 | pinMode(8,INPUT); 
11 | 
12 | for(;;)
13 | {
14 | int ldrstate = digitalRead(8); 
15 | if(ldrstate == HIGH) 
16 | {
17 | digitalWrite(0,HIGH); 
18 | }
19 | else
20 | {
21 | digitalWrite(0,LOW); 
22 | }
23 |  }
24 | return 0;
25 |  }


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/Chapter02/Soft_PWM_Blink.cpp:
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 1 | #include <iostream>
 2 | #include <wiringPi.h>
 3 | #include <softPwm.h>
 4 | int main(void)
 5 | {
 6 |  wiringPiSetup();
 7 |  softPwmCreate (15, 0, 100) ;
 8 |  for(;;)
 9 |  {
10 |  softPwmWrite (15, 25);
11 |  delay(1000);
12 |  softPwmWrite (15, 0);
13 |  delay(1000);
14 |  softPwmWrite (15, 50);
15 |  delay(1000);
16 |  softPwmWrite (15, 0);
17 |  delay(1000);
18 |  softPwmWrite (15, 100);
19 |  delay(1000);
20 |  softPwmWrite (15, 0);
21 |  delay(1000);
22 |  }
23 | return 0;
24 |  }
25 | 


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/Chapter03/.gitattributes:
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1 | .*mp4 filter=lfs diff=lfs merge=lfs -text
2 | 


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/Chapter03/ConstructionOfRobotVideo.mp4:
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1 | version https://git-lfs.github.com/spec/v1
2 | oid sha256:21dd56529413600413a5358808db2242f01c735ecbc77b74c1446f4770d4808e
3 | size 155886600
4 | 


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/Chapter03/Forward.cpp:
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 1 | #include <stdio.h>
 2 | #include <wiringPi.h>
 3 | 
 4 | int main(void)
 5 | {
 6 | wiringPiSetup();
 7 | pinMode(0,OUTPUT); 
 8 | pinMode(2,OUTPUT); 
 9 | pinMode(3,OUTPUT);
10 | pinMode(4,OUTPUT); 
11 |  
12 |  
13 |  for(int i=0; i<1;i++)
14 |  {
15 | digitalWrite(0,HIGH); //PIN O & 2 will move the Left Motor
16 | digitalWrite(2,LOW);
17 | digitalWrite(3,HIGH); //PIN 3 & 4 will move the Right Motor
18 | digitalWrite(4,LOW);
19 | delay(3000);
20 |  }
21 | return 0;
22 |  }


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/Chapter03/RobotMovement.cpp:
--------------------------------------------------------------------------------
 1 | #include <stdio.h>
 2 | #include <wiringPi.h>
 3 | 
 4 | int main(void)
 5 | {
 6 | wiringPiSetup();
 7 | pinMode(0,OUTPUT); 
 8 | pinMode(2,OUTPUT); 
 9 | pinMode(3,OUTPUT);
10 | pinMode(4,OUTPUT); 
11 |  
12 |  
13 |  for(int i=0; i<1;i++)
14 |  {
15 | 	 
16 | /* FORWARD  */
17 | digitalWrite(0,HIGH); //PIN O & 2 will move the Left Motor Forward
18 | digitalWrite(2,LOW);
19 | digitalWrite(3,HIGH); //PIN 3 & 4 will move the Right Motor Forward
20 | digitalWrite(4,LOW);
21 | delay(3000);
22 | 
23 | /* BACKWARD  */
24 | digitalWrite(0,LOW); 
25 | digitalWrite(2,HIGH);
26 | digitalWrite(3,LOW); 
27 | digitalWrite(4,HIGH);
28 | delay(3000);
29 | 
30 | /* STOP */
31 | digitalWrite(0,HIGH); 
32 | digitalWrite(2,HIGH);
33 | digitalWrite(3,HIGH); 
34 | digitalWrite(4,HIGH);
35 | delay(3000);
36 | 
37 | /* AXIAL LEFT TURN */
38 | digitalWrite(0,LOW);
39 | digitalWrite(2,HIGH);
40 | digitalWrite(3,HIGH);
41 | digitalWrite(4,LOW);
42 | delay(500);
43 | 
44 | /* AXIAL RIGHT TURN */
45 | digitalWrite(0,HIGH);
46 | digitalWrite(2,LOW);
47 | digitalWrite(3,LOW);
48 | digitalWrite(4,HIGH);
49 | delay(500);
50 | 
51 | 
52 | /* RADIAL LEFT TURN */
53 | digitalWrite(0,HIGH);
54 | digitalWrite(2,HIGH);
55 | digitalWrite(3,HIGH);
56 | digitalWrite(4,LOW);
57 | delay(1000);
58 | 
59 | 
60 | /* RADIAL RIGHT TURN */
61 | digitalWrite(0,HIGH);
62 | digitalWrite(2,LOW);
63 | digitalWrite(3,HIGH);
64 | digitalWrite(4,HIGH);
65 | delay(1000);
66 | 
67 | /* STOP */
68 | digitalWrite(0,HIGH);
69 | digitalWrite(2,HIGH);
70 | digitalWrite(3,HIGH);
71 | digitalWrite(4,HIGH);
72 | delay(1000);
73 |  }
74 | return 0;
75 |  }
76 | 


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/Chapter04/DistanceMeasurement.cpp:
--------------------------------------------------------------------------------
 1 | #include <stdio.h>
 2 | #include <iostream>
 3 | #include <wiringPi.h>
 4 | 
 5 | using namespace std;
 6 | 
 7 | #define trigger 12
 8 | #define echo 13
 9 | 
10 | long startTime;
11 | long stopTime;
12 | 
13 | int main()
14 | {
15 | 
16 |  wiringPiSetup();
17 | 
18 |  pinMode(trigger,OUTPUT);
19 |  pinMode(echo, INPUT); 
20 | 
21 | for(;;){
22 |  digitalWrite(trigger,LOW);
23 |  delay(500);
24 | 
25 |  digitalWrite(trigger,HIGH);
26 |  delayMicroseconds(10);
27 | 
28 |  digitalWrite(trigger,LOW); 
29 | 
30 |  while(digitalRead(echo) == LOW);
31 |  startTime = micros();
32 | 
33 |  while(digitalRead(echo) == HIGH);
34 |  stopTime = micros(); 
35 |  
36 | long totalTime= stopTime - startTime; 
37 |  float distance = (totalTime * 0.034)/2;
38 | 
39 |  cout << "Distance is: " << distance << " cm"<<endl;
40 |  delay(2000);
41 | }
42 | return 0;
43 | }


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/Chapter04/I2CLCD.cpp:
--------------------------------------------------------------------------------
  1 | #include <wiringPiI2C.h>
  2 | #include <wiringPi.h>
  3 | #include <stdlib.h>
  4 | #include <stdio.h>
  5 | 
  6 | // Definining device parameters
  7 | #define I2C_DEVICE_ADDRESS   0x27 // I2C device address
  8 | #define firstrow  0x80 // 1st line
  9 | #define secondrow  0xC0 // 2nd line
 10 | 
 11 | // Define some device constants
 12 | #define LCD_CHR  1 // Mode - Sending data
 13 | #define LCD_CMD  0 // Mode - Sending command
 14 | 
 15 | #define LCD_BACKLIGHT 0x08
 16 | 
 17 | #define ENABLE  0b00000100 // Enable bit
 18 | 
 19 | void init_lcd(void);
 20 | void lcd_byte(int bits, int mode);
 21 | void lcd_toggle_enable(int bits);
 22 | void printmessage(const char *s);
 23 | void moveCursor(int line); 
 24 | void clear(void); 
 25 | void typeChar(char val);
 26 | void printInt(int i);
 27 | void printFloat(float myFloat);
 28 | int lcdaddr; 
 29 | 
 30 | int main()   {
 31 |   wiringPiSetup();
 32 |   lcdaddr = wiringPiI2CSetup(I2C_DEVICE_ADDRESS);
 33 |   init_lcd(); // initializing or setting up the LCD
 34 |   for(;;)  {
 35 |     moveCursor(firstrow);
 36 |     printmessage("LCD OUTPUT");
 37 |     moveCursor(secondrow);
 38 |     printmessage("USING I2C");
 39 |     delay(2000);
 40 |     clear();
 41 | 	
 42 |     moveCursor(firstrow);
 43 |     printmessage("Integer: ");
 44 |     int iNumber = 314;
 45 |     printInt(iNumber);
 46 |     delay(2000);
 47 | 	
 48 |     moveCursor(secondrow);
 49 |     printmessage("Float ");
 50 |     float fNumber = 3.14;
 51 |     printFloat(fNumber);
 52 |     delay(2000);
 53 |     clear();
 54 |   }
 55 |   return 0;
 56 | }
 57 | 
 58 | 
 59 | void printFloat(float myFloat)   {
 60 |   char buffer[20];
 61 |   sprintf(buffer, "%4.2f",  myFloat);
 62 |   printmessage(buffer);
 63 | }
 64 | 
 65 | 
 66 | void printInt(int i)   {
 67 |   char array1[20];
 68 |   sprintf(array1, "%d",  i);
 69 |   printmessage(array1);
 70 | }
 71 | 
 72 | // clr lcd go home loc 0x80
 73 | void clear(void)   {
 74 |   lcd_byte(0x01, LCD_CMD);
 75 |   lcd_byte(0x02, LCD_CMD);
 76 | }
 77 | 
 78 | 
 79 | void moveCursor(int line)   {
 80 |   lcd_byte(line, LCD_CMD);
 81 | }
 82 | 
 83 | 
 84 | void typeChar(char val)   {
 85 | 
 86 |   lcd_byte(val, LCD_CHR);
 87 | }
 88 | 
 89 | 
 90 | 
 91 | void printmessage(const char *s)   {
 92 | 
 93 |   while ( *s ) lcd_byte(*(s++), LCD_CHR);
 94 | 
 95 | }
 96 | 
 97 | void lcd_byte(int bits, int mode)   {
 98 | 
 99 | 
100 |   int bits_high;
101 |   int bits_low;
102 | 
103 |   bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT;
104 |   bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT;
105 | 
106 | 
107 |   wiringPiI2CReadReg8(lcdaddr, bits_high);
108 |   lcd_toggle_enable(bits_high);
109 | 
110 | 
111 |   wiringPiI2CReadReg8(lcdaddr, bits_low);
112 |   lcd_toggle_enable(bits_low);
113 | }
114 | 
115 | void lcd_toggle_enable(int bits)   {
116 | 
117 |   delayMicroseconds(500);
118 |   wiringPiI2CReadReg8(lcdaddr, (bits | ENABLE));
119 |   delayMicroseconds(500);
120 |   wiringPiI2CReadReg8(lcdaddr, (bits & ~ENABLE));
121 |   delayMicroseconds(500);
122 | }
123 | 
124 | 
125 | void init_lcd()   {
126 | 
127 |   lcd_byte(0x33, LCD_CMD); 
128 |   lcd_byte(0x32, LCD_CMD); 
129 |   lcd_byte(0x06, LCD_CMD); 
130 |   lcd_byte(0x0C, LCD_CMD); 
131 |   lcd_byte(0x28, LCD_CMD); 
132 |   lcd_byte(0x01, LCD_CMD); 
133 |   delayMicroseconds(500);
134 | }
135 | 
136 | 


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/Chapter04/I2CLCDdm.cpp:
--------------------------------------------------------------------------------
  1 | #include <wiringPiI2C.h>
  2 | #include <wiringPi.h>
  3 | #include <stdlib.h>
  4 | #include <stdio.h>
  5 | 
  6 | using namespace std;
  7 | 
  8 | // Definining device parameters
  9 | #define I2C_DEVICE_ADDRESS   0x27 // I2C device address
 10 | #define firstrow  0x80 // 1st line
 11 | #define secondrow  0xC0 // 2nd line
 12 | 
 13 | // Define some device constants
 14 | #define LCD_CHR  1 // Mode - Sending data
 15 | #define LCD_CMD  0 // Mode - Sending command
 16 | 
 17 | #define LCD_BACKLIGHT 0x08
 18 | 
 19 | #define ENABLE  0b00000100 // Enable bit
 20 | 
 21 | #define trigger 12
 22 | #define echo 13
 23 | 
 24 | long startTime;
 25 | long stopTime;
 26 | 
 27 | 
 28 | void init_lcd(void);
 29 | void lcd_byte(int bits, int mode);
 30 | void lcd_toggle_enable(int bits);
 31 | void printmessage(const char *s);
 32 | void moveCursor(int line); 
 33 | void clear(void); 
 34 | void typeChar(char val);
 35 | void printInt(int i);
 36 | void printFloat(float myFloat);
 37 | int lcdaddr; 
 38 | 
 39 | int main()   {
 40 |   wiringPiSetup();
 41 |   lcdaddr = wiringPiI2CSetup(I2C_DEVICE_ADDRESS);
 42 |   init_lcd(); //initializing or setting up the LCD
 43 |   
 44 |   pinMode(trigger,OUTPUT);
 45 |   pinMode(echo, INPUT); 
 46 |   
 47 |   
 48 |   for(;;)  {
 49 | 	  
 50 |  digitalWrite(trigger,LOW);
 51 |  delay(500);
 52 | 
 53 |  digitalWrite(trigger,HIGH);
 54 |  delayMicroseconds(10);
 55 | 
 56 |  digitalWrite(trigger,LOW); 
 57 | 
 58 |  while(digitalRead(echo) == LOW);
 59 |  startTime = micros();
 60 | 
 61 |  while(digitalRead(echo) == HIGH);
 62 |  stopTime = micros(); 
 63 |  
 64 | long totalTime= stopTime - startTime; 
 65 |  float distance = (totalTime * 0.034)/2;
 66 |  
 67 |  
 68 |     moveCursor(firstrow);
 69 |     printmessage("Distance: ");
 70 |     
 71 |     moveCursor(secondrow);
 72 |     printFloat(distance);
 73 |     printmessage(" cm");
 74 |     delay(2000);
 75 |     clear();
 76 | 
 77 |   }
 78 |   return 0;
 79 | }
 80 | 
 81 | 
 82 | void printFloat(float myFloat)   {
 83 |   char buffer[20];
 84 |   sprintf(buffer, "%4.2f",  myFloat);
 85 |   printmessage(buffer);
 86 | }
 87 | 
 88 | 
 89 | void printInt(int i)   {
 90 |   char array1[20];
 91 |   sprintf(array1, "%d",  i);
 92 |   printmessage(array1);
 93 | }
 94 | 
 95 | // clr lcd go home loc 0x80
 96 | void clear(void)   {
 97 |   lcd_byte(0x01, LCD_CMD);
 98 |   lcd_byte(0x02, LCD_CMD);
 99 | }
100 | 
101 | 
102 | void moveCursor(int line)   {
103 |   lcd_byte(line, LCD_CMD);
104 | }
105 | 
106 | 
107 | void typeChar(char val)   {
108 | 
109 |   lcd_byte(val, LCD_CHR);
110 | }
111 | 
112 | 
113 | 
114 | void printmessage(const char *s)   {
115 | 
116 |   while ( *s ) lcd_byte(*(s++), LCD_CHR);
117 | 
118 | }
119 | 
120 | void lcd_byte(int bits, int mode)   {
121 | 
122 | 
123 |   int bits_high;
124 |   int bits_low;
125 | 
126 |   bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT;
127 |   bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT;
128 | 
129 | 
130 |   wiringPiI2CReadReg8(lcdaddr, bits_high);
131 |   lcd_toggle_enable(bits_high);
132 | 
133 | 
134 |   wiringPiI2CReadReg8(lcdaddr, bits_low);
135 |   lcd_toggle_enable(bits_low);
136 | }
137 | 
138 | void lcd_toggle_enable(int bits)   {
139 | 
140 |   delayMicroseconds(500);
141 |   wiringPiI2CReadReg8(lcdaddr, (bits | ENABLE));
142 |   delayMicroseconds(500);
143 |   wiringPiI2CReadReg8(lcdaddr, (bits & ~ENABLE));
144 |   delayMicroseconds(500);
145 | }
146 | 
147 | 
148 | void init_lcd()   {
149 | 
150 |   lcd_byte(0x33, LCD_CMD); 
151 |   lcd_byte(0x32, LCD_CMD); 
152 |   lcd_byte(0x06, LCD_CMD); 
153 |   lcd_byte(0x0C, LCD_CMD); 
154 |   lcd_byte(0x28, LCD_CMD); 
155 |   lcd_byte(0x01, LCD_CMD); 
156 |   delayMicroseconds(500);
157 | }
158 | 
159 | 
160 | 


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/Chapter04/LCDdisplay.cpp:
--------------------------------------------------------------------------------
 1 | #include <wiringPi.h> 
 2 | #include <lcd.h> 
 3 | 
 4 | #define RS 22 //Register Select
 5 | #define E 26 //Enable
 6 | 
 7 | #define D4 24 //Data pin 4
 8 | #define D5 25 //Data pin 5
 9 | #define D6 27 //Data pin 6
10 | #define D7 28 //Data pin 7
11 | 
12 | int main()
13 | {
14 | 
15 | int fd; 
16 | wiringPiSetup(); 
17 | fd= lcdInit (2, 16, 4, RS, E, D4, D5, D6, D7, 0, 0, 0, 0); 
18 | lcdPuts(fd, "LCD OUTPUT"); 
19 | 
20 | }


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/Chapter04/LCDdm.cpp:
--------------------------------------------------------------------------------
 1 | //LCD_ULTRASONIC SENSOR CODE
 2 | 
 3 | #include <stdio.h>
 4 | #include <iostream>
 5 | #include <wiringPi.h>
 6 | #include <lcd.h> 
 7 | 
 8 | using namespace std;
 9 | 
10 | #define trigger 12
11 | #define echo 13
12 | #define RS 22                   //Register Select
13 | #define E 26                    //Enable
14 | #define D4 24                   //Data pin 4
15 | #define D5 25                   //Data pin 5
16 | #define D6 27                   //Data pin 6
17 | #define D7 28                   //Data pin 7
18 | 
19 | long startTime;
20 | long stopTime;
21 | 
22 | int main()
23 | {
24 |   wiringPiSetup();
25 | 
26 |   pinMode(trigger,OUTPUT);
27 |   pinMode(echo, INPUT); 
28 |   
29 |   int fd; 
30 |   wiringPiSetup(); 
31 |   fd= lcdInit (2, 16, 4, RS, E, D4, D5, D6, D7, 0, 0, 0, 0); 
32 |   lcdPuts(fd, "LCD OUTPUT"); 
33 | 
34 | for(;;)
35 | {
36 |  digitalWrite(trigger,LOW);
37 |  delay(500);
38 | 
39 |  digitalWrite(trigger,HIGH);
40 |  delayMicroseconds(10);
41 | 
42 |  digitalWrite(trigger,LOW); 
43 | 
44 |  while(digitalRead(echo) == LOW);
45 |  startTime = micros();
46 | 
47 |  while(digitalRead(echo) == HIGH);
48 |  stopTime = micros(); 
49 |  
50 |  long totalTime= stopTime - startTime; 
51 |  float distance = (totalTime * 0.034)/2;
52 |  
53 |  cout << "Distance is: " << distance << " cm"<<endl;
54 |  lcdPosition(fd, 0, 0);           //position the cursor on column 0, row 0
55 |  lcdPuts(fd, "Distance: ");      //this code will print Distance text
56 |  lcdPosition(fd, 0, 1);          //position the cursor on column 0, row 1
57 |  lcdPrintf(fd, distance);        // print the distance value
58 |  lcdPuts(fd, " cm");
59 |  delay(2000);
60 |  clear();                     
61 | }
62 | return 0
63 | }
64 | 
65 | 


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/Chapter04/ObstacleAvoiderRobot.cpp:
--------------------------------------------------------------------------------
  1 | #include <wiringPiI2C.h>
  2 | #include <wiringPi.h>
  3 | #include <stdlib.h>
  4 | #include <stdio.h>
  5 | 
  6 | using namespace std;
  7 | 
  8 | // Definining device parameters
  9 | #define I2C_DEVICE_ADDRESS   0x27 // I2C device address
 10 | #define firstrow  0x80 // 1st line
 11 | #define secondrow  0xC0 // 2nd line
 12 | 
 13 | // Define some device constants
 14 | #define LCD_CHR  1 // Mode - Sending data
 15 | #define LCD_CMD  0 // Mode - Sending command
 16 | 
 17 | #define LCD_BACKLIGHT 0x08
 18 | 
 19 | #define ENABLE  0b00000100 // Enable bit
 20 | 
 21 | #define trigger 12
 22 | #define echo 13
 23 | 
 24 | long startTime;
 25 | long stopTime;
 26 | 
 27 | 
 28 | void init_lcd(void);
 29 | void lcd_byte(int bits, int mode);
 30 | void lcd_toggle_enable(int bits);
 31 | void printmessage(const char *s);
 32 | void moveCursor(int line); 
 33 | void clear(void); 
 34 | void typeChar(char val);
 35 | void printInt(int i);
 36 | void printFloat(float myFloat);
 37 | int lcdaddr; 
 38 | 
 39 | int main()   {
 40 |   wiringPiSetup();
 41 |   lcdaddr = wiringPiI2CSetup(I2C_DEVICE_ADDRESS);
 42 |   init_lcd(); //initializing or setting up the LCD
 43 |   
 44 |   pinMode(trigger,OUTPUT);
 45 |   pinMode(echo, INPUT);
 46 |   pinMode(0,OUTPUT); 
 47 |   pinMode(2,OUTPUT);
 48 |   pinMode(3,OUTPUT);
 49 |   pinMode(4,OUTPUT); 
 50 |   
 51 |   for(;;)  {
 52 | 	  
 53 |  digitalWrite(trigger,LOW);
 54 |  delay(500);
 55 | 
 56 |  digitalWrite(trigger,HIGH);
 57 |  delayMicroseconds(10);
 58 | 
 59 |  digitalWrite(trigger,LOW); 
 60 | 
 61 |  while(digitalRead(echo) == LOW);
 62 |  startTime = micros();
 63 | 
 64 |  while(digitalRead(echo) == HIGH);
 65 |  stopTime = micros(); 
 66 |  
 67 | long totalTime= stopTime - startTime; 
 68 |  float distance = (totalTime * 0.034)/2;
 69 |  
 70 |  //cout << "Distance is: " << distance << " cm"<<endl;
 71 |  
 72 | if(distance < 20)
 73 |    {
 74 |    digitalWrite(0,LOW);
 75 |    digitalWrite(2,HIGH);
 76 |    digitalWrite(3,HIGH);
 77 |    digitalWrite(4,LOW);
 78 |    moveCursor(firstrow);
 79 |    printmessage("Obstacle Status");
 80 |    moveCursor(secondrow);
 81 |    printmessage("Obstacle detected");
 82 |    clear();
 83 |    }
 84 |    else
 85 |    {
 86 |    digitalWrite(0,HIGH);
 87 |    digitalWrite(2,LOW);
 88 |    digitalWrite(3,HIGH);
 89 |    digitalWrite(4,LOW);
 90 |    moveCursor(firstrow);
 91 |    printmessage("Obstacle Status");
 92 |    moveCursor(secondrow);
 93 |    printmessage("No Obstacle");
 94 |    clear();
 95 | }
 96 | 
 97 |   }
 98 |   return 0;
 99 | }
100 | 
101 | 
102 | void printFloat(float myFloat)   {
103 |   char buffer[20];
104 |   sprintf(buffer, "%4.2f",  myFloat);
105 |   printmessage(buffer);
106 | }
107 | 
108 | 
109 | void printInt(int i)   {
110 |   char array1[20];
111 |   sprintf(array1, "%d",  i);
112 |   printmessage(array1);
113 | }
114 | 
115 | // clr lcd go home loc 0x80
116 | void clear(void)   {
117 |   lcd_byte(0x01, LCD_CMD);
118 |   lcd_byte(0x02, LCD_CMD);
119 | }
120 | 
121 | 
122 | void moveCursor(int line)   {
123 |   lcd_byte(line, LCD_CMD);
124 | }
125 | 
126 | 
127 | void typeChar(char val)   {
128 | 
129 |   lcd_byte(val, LCD_CHR);
130 | }
131 | 
132 | 
133 | 
134 | void printmessage(const char *s)   {
135 | 
136 |   while ( *s ) lcd_byte(*(s++), LCD_CHR);
137 | 
138 | }
139 | 
140 | void lcd_byte(int bits, int mode)   {
141 | 
142 | 
143 |   int bits_high;
144 |   int bits_low;
145 | 
146 |   bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT;
147 |   bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT;
148 | 
149 | 
150 |   wiringPiI2CReadReg8(lcdaddr, bits_high);
151 |   lcd_toggle_enable(bits_high);
152 | 
153 | 
154 |   wiringPiI2CReadReg8(lcdaddr, bits_low);
155 |   lcd_toggle_enable(bits_low);
156 | }
157 | 
158 | void lcd_toggle_enable(int bits)   {
159 | 
160 |   delayMicroseconds(500);
161 |   wiringPiI2CReadReg8(lcdaddr, (bits | ENABLE));
162 |   delayMicroseconds(500);
163 |   wiringPiI2CReadReg8(lcdaddr, (bits & ~ENABLE));
164 |   delayMicroseconds(500);
165 | }
166 | 
167 | 
168 | void init_lcd()   {
169 | 
170 |   lcd_byte(0x33, LCD_CMD); 
171 |   lcd_byte(0x32, LCD_CMD); 
172 |   lcd_byte(0x06, LCD_CMD); 
173 |   lcd_byte(0x0C, LCD_CMD); 
174 |   lcd_byte(0x28, LCD_CMD); 
175 |   lcd_byte(0x01, LCD_CMD); 
176 |   delayMicroseconds(500);
177 | }
178 | 
179 | 
180 | 
181 | 
182 | 


--------------------------------------------------------------------------------
/Chapter05/Hello_World.cpp:
--------------------------------------------------------------------------------
 1 | #include <ncurses.h>
 2 | #include <stdio.h>
 3 | 
 4 | int main()
 5 | {
 6 | initscr();                         //initializes and clear the screen
 7 | int keypressed = getch()                    
 8 | if(keypressed == 'h' || keypressed == 'H')
 9 | {
10 | printw("Hello World");             //will print Hello World message
11 | }
12 | getch();
13 | refresh(); 
14 | 
15 | endwin();                          // frees up memory and ends ncurses
16 | return 0;
17 | }


--------------------------------------------------------------------------------
/Chapter05/LEDBuzzer.cpp:
--------------------------------------------------------------------------------
 1 | #include <ncurses.h>
 2 | #include <wiringPi.h>
 3 | #include <stdio.h>
 4 | int main()
 5 | {
 6 |  wiringPiSetup();
 7 | 
 8 |  pinMode(15,OUTPUT); //LED 1 pin
 9 |  pinMode(4, OUTPUT); //LED 2 pin
10 |  pinMode(27,OUTPUT); //Buzzer pin
11 | 
12 | for(;;){
13 | 
14 | initscr();
15 | 
16 | int keypressed = getch();
17 | 
18 | if(keypressed=='L' || keypressed=='l')
19 | {
20 |  digitalWrite(15,HIGH);
21 |  delay(1000);
22 |  digitalWrite(15,LOW);
23 |  delay(1000);
24 | }
25 | 
26 | if(keypressed== 69 || keypressed=='e')       // 69 is ASCII number for E.
27 | {
28 |  digitalWrite(4,HIGH);
29 |  delay(1000);
30 |  digitalWrite(4,LOW);
31 |  delay(1000);
32 | }
33 | 
34 | if(keypressed=='D' || keypressed=='d')
35 | {
36 |  digitalWrite(15,HIGH);
37 |  delay(1000);
38 |  digitalWrite(15,LOW);
39 |  delay(1000);
40 |  digitalWrite(4,HIGH);
41 |  delay(1000);
42 |  digitalWrite(4,LOW);
43 |  delay(1000);
44 | }
45 | 
46 | if(keypressed=='B' || keypressed== 98)        //98 is ASCII number for b
47 | {
48 |  digitalWrite(27,HIGH);
49 |  delay(1000);
50 |  digitalWrite(27,LOW);
51 |  delay(1000);
52 |  digitalWrite(27,HIGH);
53 |  delay(1000);
54 |  digitalWrite(27,LOW);
55 |  delay(1000);
56 | }
57 | 
58 | if(keypressed=='x' || keypressed =='X')
59 | {
60 | break; 
61 | }
62 | 
63 | refresh();
64 | }
65 | endwin(); // 
66 | return 0; 
67 | }


--------------------------------------------------------------------------------
/Chapter05/LEDOnOff/LEDOnOff.pro:
--------------------------------------------------------------------------------
 1 | #-------------------------------------------------
 2 | #
 3 | # Project created by QtCreator 2019-03-28T08:27:17
 4 | #
 5 | #-------------------------------------------------
 6 | 
 7 | QT       += core gui
 8 | 
 9 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
10 | 
11 | TARGET = LEDOnOff
12 | TEMPLATE = app
13 | 
14 | # The following define makes your compiler emit warnings if you use
15 | # any feature of Qt which as been marked as deprecated (the exact warnings
16 | # depend on your compiler). Please consult the documentation of the
17 | # deprecated API in order to know how to port your code away from it.
18 | DEFINES += QT_DEPRECATED_WARNINGS
19 | 
20 | # You can also make your code fail to compile if you use deprecated APIs.
21 | # In order to do so, uncomment the following line.
22 | # You can also select to disable deprecated APIs only up to a certain version of Qt.
23 | #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
24 | 
25 | 
26 | SOURCES += main.cpp\
27 |         mainwindow.cpp
28 | 
29 | HEADERS  += mainwindow.h
30 | 
31 | FORMS    += mainwindow.ui
32 | 
33 | LIBS += -L/usr/local/lib -lwiringPi
34 | 


--------------------------------------------------------------------------------
/Chapter05/LEDOnOff/LEDOnOff.pro.user:
--------------------------------------------------------------------------------
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254 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
255 |     </valuemap>
256 |     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
257 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy locally</value>
258 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
259 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
260 |    </valuemap>
261 |    <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
262 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
263 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
264 |     <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
265 |     <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
266 |     <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
267 |     <value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
268 |     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
269 |     <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
270 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
271 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
272 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
273 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
274 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
275 |     <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
276 |     <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
277 |     <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
278 |     <value type="int" key="Analyzer.Valgrind.LeakCheckOnFinish">1</value>
279 |     <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
280 |     <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
281 |     <value type="int" key="Analyzer.Valgrind.SelfModifyingCodeDetection">1</value>
282 |     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
283 |     <value type="bool" key="Analyzer.Valgrind.ShowReachable">false</value>
284 |     <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
285 |     <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
286 |     <valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
287 |      <value type="int">0</value>
288 |      <value type="int">1</value>
289 |      <value type="int">2</value>
290 |      <value type="int">3</value>
291 |      <value type="int">4</value>
292 |      <value type="int">5</value>
293 |      <value type="int">6</value>
294 |      <value type="int">7</value>
295 |      <value type="int">8</value>
296 |      <value type="int">9</value>
297 |      <value type="int">10</value>
298 |      <value type="int">11</value>
299 |      <value type="int">12</value>
300 |      <value type="int">13</value>
301 |      <value type="int">14</value>
302 |     </valuelist>
303 |     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
304 |     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
305 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">LEDOnOff</value>
306 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
307 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/pi/QTPrograms/LEDOnOff/LEDOnOff.pro</value>
308 |     <value type="bool" key="QmakeProjectManager.QmakeRunConfiguration.UseLibrarySearchPath">true</value>
309 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
310 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">LEDOnOff.pro</value>
311 |     <value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
312 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory"></value>
313 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory.default"></value>
314 |     <value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
315 |     <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
316 |     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
317 |     <value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
318 |     <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
319 |     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
320 |    </valuemap>
321 |    <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
322 |   </valuemap>
323 |  </data>
324 |  <data>
325 |   <variable>ProjectExplorer.Project.TargetCount</variable>
326 |   <value type="int">1</value>
327 |  </data>
328 |  <data>
329 |   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
330 |   <value type="int">18</value>
331 |  </data>
332 |  <data>
333 |   <variable>Version</variable>
334 |   <value type="int">18</value>
335 |  </data>
336 | </qtcreator>
337 | 


--------------------------------------------------------------------------------
/Chapter05/LEDOnOff/main.cpp:
--------------------------------------------------------------------------------
 1 | #include "mainwindow.h"
 2 | #include <QApplication>
 3 | 
 4 | int main(int argc, char *argv[])
 5 | {
 6 |     QApplication a(argc, argv);
 7 |     MainWindow w;
 8 |     w.show();
 9 | 
10 |     return a.exec();
11 | }
12 | 


--------------------------------------------------------------------------------
/Chapter05/LEDOnOff/mainwindow.cpp:
--------------------------------------------------------------------------------
 1 | #include "mainwindow.h"
 2 | #include "ui_mainwindow.h"
 3 | 
 4 | MainWindow::MainWindow(QWidget *parent) :
 5 |     QMainWindow(parent),
 6 |     ui(new Ui::MainWindow)
 7 | {
 8 |     ui->setupUi(this);
 9 |     wiringPiSetup();
10 |     pinMode(led1, OUTPUT);
11 |     pinMode(led2, OUTPUT);
12 | }
13 | 
14 | MainWindow::~MainWindow()
15 | {
16 |     delete ui;
17 | }
18 | 
19 | void MainWindow::on_on_clicked()
20 | {
21 | digitalWrite(led1,HIGH);
22 | digitalWrite(led2,HIGH);
23 | }
24 | 
25 | void MainWindow::on_off_clicked()
26 | {
27 |     digitalWrite(led1,LOW);
28 |     digitalWrite(led2,LOW);
29 | }
30 | 
31 | void MainWindow::on_onoff_pressed()
32 | {
33 |     digitalWrite(led1,HIGH);
34 |     digitalWrite(led2,HIGH);
35 | }
36 | 
37 | void MainWindow::on_onoff_released()
38 | {
39 |     digitalWrite(led1,LOW);
40 |     digitalWrite(led2,LOW);
41 | }
42 | 


--------------------------------------------------------------------------------
/Chapter05/LEDOnOff/mainwindow.h:
--------------------------------------------------------------------------------
 1 | #ifndef MAINWINDOW_H
 2 | #define MAINWINDOW_H
 3 | #include <QMainWindow>
 4 | #include<wiringPi.h>
 5 | #define led1 0
 6 | #define led2 2
 7 | 
 8 | #include <QMainWindow>
 9 | 
10 | namespace Ui {
11 | class MainWindow;
12 | }
13 | 
14 | class MainWindow : public QMainWindow
15 | {
16 |     Q_OBJECT
17 | 
18 | public:
19 |     explicit MainWindow(QWidget *parent = 0);
20 |     ~MainWindow();
21 | 
22 | private slots:
23 |     void on_on_clicked();
24 | 
25 |     void on_off_clicked();
26 | 
27 |     void on_onoff_pressed();
28 | 
29 |     void on_onoff_released();
30 | 
31 | private:
32 |     Ui::MainWindow *ui;
33 | };
34 | 
35 | #endif // MAINWINDOW_H
36 | 


--------------------------------------------------------------------------------
/Chapter05/LEDOnOff/mainwindow.ui:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <ui version="4.0">
 3 |  <class>MainWindow</class>
 4 |  <widget class="QMainWindow" name="MainWindow">
 5 |   <property name="geometry">
 6 |    <rect>
 7 |     <x>0</x>
 8 |     <y>0</y>
 9 |     <width>400</width>
10 |     <height>300</height>
11 |    </rect>
12 |   </property>
13 |   <property name="windowTitle">
14 |    <string>MainWindow</string>
15 |   </property>
16 |   <widget class="QWidget" name="centralWidget">
17 |    <widget class="QPushButton" name="on">
18 |     <property name="geometry">
19 |      <rect>
20 |       <x>20</x>
21 |       <y>70</y>
22 |       <width>101</width>
23 |       <height>31</height>
24 |      </rect>
25 |     </property>
26 |     <property name="text">
27 |      <string>ON</string>
28 |     </property>
29 |    </widget>
30 |    <widget class="QPushButton" name="off">
31 |     <property name="geometry">
32 |      <rect>
33 |       <x>240</x>
34 |       <y>70</y>
35 |       <width>101</width>
36 |       <height>31</height>
37 |      </rect>
38 |     </property>
39 |     <property name="text">
40 |      <string>OFF</string>
41 |     </property>
42 |    </widget>
43 |    <widget class="QPushButton" name="onoff">
44 |     <property name="geometry">
45 |      <rect>
46 |       <x>140</x>
47 |       <y>170</y>
48 |       <width>101</width>
49 |       <height>31</height>
50 |      </rect>
51 |     </property>
52 |     <property name="text">
53 |      <string>ON/OFF</string>
54 |     </property>
55 |    </widget>
56 |   </widget>
57 |   <widget class="QMenuBar" name="menuBar">
58 |    <property name="geometry">
59 |     <rect>
60 |      <x>0</x>
61 |      <y>0</y>
62 |      <width>400</width>
63 |      <height>27</height>
64 |     </rect>
65 |    </property>
66 |   </widget>
67 |   <widget class="QToolBar" name="mainToolBar">
68 |    <attribute name="toolBarArea">
69 |     <enum>TopToolBarArea</enum>
70 |    </attribute>
71 |    <attribute name="toolBarBreak">
72 |     <bool>false</bool>
73 |    </attribute>
74 |   </widget>
75 |   <widget class="QStatusBar" name="statusBar"/>
76 |  </widget>
77 |  <layoutdefault spacing="6" margin="11"/>
78 |  <resources/>
79 |  <connections/>
80 | </ui>
81 | 


--------------------------------------------------------------------------------
/Chapter05/Laptop_Controlled_Rover.cpp:
--------------------------------------------------------------------------------
  1 | #include <ncurses.h>
  2 | #include <stdio.h>
  3 | #include <wiringPi.h>
  4 | 
  5 | 
  6 | void forward()
  7 | {
  8 | digitalWrite(0,HIGH);
  9 | digitalWrite(2,LOW);
 10 | digitalWrite(3,HIGH);
 11 | digitalWrite(4,LOW);
 12 | }
 13 | 
 14 | void rightturn()
 15 | {
 16 | digitalWrite(0,HIGH); 
 17 | digitalWrite(2,LOW); 
 18 | digitalWrite(3,LOW); 
 19 | digitalWrite(4,HIGH);
 20 | }
 21 | 
 22 | void stop()
 23 | {
 24 | digitalWrite(0,HIGH); 
 25 | digitalWrite(2,HIGH); 
 26 | digitalWrite(3,HIGH); 
 27 | digitalWrite(4,HIGH);
 28 | }
 29 | 
 30 | 
 31 | int main()
 32 | {
 33 | wiringPiSetup();
 34 | pinMode(0, OUTPUT);
 35 | pinMode(2, OUTPUT);
 36 | pinMode(3, OUTPUT);
 37 | pinMode(4, OUTPUT);
 38 | for(;;)
 39 | {
 40 | initscr();   
 41 | keypad(stdscr,TRUE);
 42 | refresh(); 
 43 | int keypressed = getch();  
 44 |  if(keypressed==KEY_UP || keypressed == 'W' || keypressed == 'w')
 45 | {
 46 | digitalWrite(0,HIGH);
 47 | digitalWrite(2,LOW);
 48 | digitalWrite(3,HIGH);
 49 | digitalWrite(4,LOW);
 50 | }
 51 | if(keypressed==KEY_DOWN || keypressed == 'X' || keypressed == 'x')
 52 | {
 53 | digitalWrite(0,LOW);
 54 | digitalWrite(2,HIGH);
 55 | digitalWrite(3,LOW);
 56 | digitalWrite(4,HIGH);
 57 | }
 58 | if(keypressed==KEY_LEFT || keypressed == 'A' || keypressed == 'a')
 59 | {
 60 | digitalWrite(0,LOW);
 61 | digitalWrite(2,HIGH);
 62 | digitalWrite(3,HIGH);
 63 | digitalWrite(4,LOW);
 64 | }
 65 | if(keypressed==KEY_RIGHT || keypressed == 'D' || keypressed == 'd')
 66 | {
 67 | digitalWrite(0,HIGH);
 68 | digitalWrite(2,LOW);
 69 | digitalWrite(3,LOW);
 70 | digitalWrite(4,HIGH);
 71 | }
 72 | if(keypressed=='s' || keypressed=='S')
 73 | {
 74 | digitalWrite(0,HIGH);
 75 | digitalWrite(2,HIGH);
 76 | digitalWrite(3,HIGH);
 77 | digitalWrite(4,HIGH);
 78 | }
 79 | if(keypressed == 'r' || keypressed == 'R')
 80 | {
 81 | forward();                             //first forward movement
 82 | delay(2000);
 83 | rightturn();                             //first left turn
 84 | delay(500);                            //delay needs to be such that the robot takes a perfect 90 degree right turn
 85 | 
 86 | forward();                            //second forward movement
 87 | delay(2000);
 88 | rightturn();                           //second right turn
 89 | delay(500);
 90 | 
 91 | forward();                          //third forward movement
 92 | delay(2000);
 93 | rightturn();                          //third and last left turn
 94 | delay(500);
 95 | 
 96 | forward();                        //fourth and last forward movement
 97 | delay(2000);
 98 | stop();                              //stop condition
 99 | }
100 | if(keypressed=='e' || keypressed=='E')
101 | {
102 | break;	
103 | }
104 | }
105 | endwin(); 
106 | return 0;	
107 | }
108 | 


--------------------------------------------------------------------------------
/Chapter05/QTRover/QTRover.pro:
--------------------------------------------------------------------------------
 1 | #-------------------------------------------------
 2 | #
 3 | # Project created by QtCreator 2019-03-28T16:36:35
 4 | #
 5 | #-------------------------------------------------
 6 | 
 7 | QT       += core gui
 8 | 
 9 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
10 | 
11 | TARGET = QTRover
12 | TEMPLATE = app
13 | 
14 | # The following define makes your compiler emit warnings if you use
15 | # any feature of Qt which as been marked as deprecated (the exact warnings
16 | # depend on your compiler). Please consult the documentation of the
17 | # deprecated API in order to know how to port your code away from it.
18 | DEFINES += QT_DEPRECATED_WARNINGS
19 | 
20 | # You can also make your code fail to compile if you use deprecated APIs.
21 | # In order to do so, uncomment the following line.
22 | # You can also select to disable deprecated APIs only up to a certain version of Qt.
23 | #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
24 | 
25 | 
26 | SOURCES += main.cpp\
27 |         mainwindow.cpp
28 | 
29 | HEADERS  += mainwindow.h
30 | 
31 | FORMS    += mainwindow.ui
32 | 
33 | LIBS += -L/usr/local/lib -lwiringPi
34 | 


--------------------------------------------------------------------------------
/Chapter05/QTRover/QTRover.pro.user:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="UTF-8"?>
  2 | <!DOCTYPE QtCreatorProject>
  3 | <!-- Written by QtCreator 4.2.0, 2019-03-28T17:45:22. -->
  4 | <qtcreator>
  5 |  <data>
  6 |   <variable>EnvironmentId</variable>
  7 |   <value type="QByteArray">{80878e64-9d89-4f4b-ab1c-cf482c7746d8}</value>
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  9 |  <data>
 10 |   <variable>ProjectExplorer.Project.ActiveTarget</variable>
 11 |   <value type="int">0</value>
 12 |  </data>
 13 |  <data>
 14 |   <variable>ProjectExplorer.Project.EditorSettings</variable>
 15 |   <valuemap type="QVariantMap">
 16 |    <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
 17 |    <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
 18 |    <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
 19 |    <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
 20 |     <value type="QString" key="language">Cpp</value>
 21 |     <valuemap type="QVariantMap" key="value">
 22 |      <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
 23 |     </valuemap>
 24 |    </valuemap>
 25 |    <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
 26 |     <value type="QString" key="language">QmlJS</value>
 27 |     <valuemap type="QVariantMap" key="value">
 28 |      <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
 29 |     </valuemap>
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 33 |    <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
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 35 |    <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
 36 |    <value type="int" key="EditorConfiguration.MarginColumn">80</value>
 37 |    <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
 38 |    <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
 39 |    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
 40 |    <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
 41 |    <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
 42 |    <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
 43 |    <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
 44 |    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
 45 |    <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
 46 |    <value type="int" key="EditorConfiguration.TabSize">8</value>
 47 |    <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
 48 |    <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
 49 |    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
 50 |    <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
 51 |    <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
 52 |    <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
 53 |   </valuemap>
 54 |  </data>
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 56 |   <variable>ProjectExplorer.Project.PluginSettings</variable>
 57 |   <valuemap type="QVariantMap"/>
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 70 |     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
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 75 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
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103 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
104 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
105 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
106 |       <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
107 |        <value type="QString">-w</value>
108 |        <value type="QString">-r</value>
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110 |       <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">true</value>
111 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
112 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
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114 |      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
115 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
116 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
117 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
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119 |     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
120 |     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
121 |     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
122 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Debug</value>
123 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
124 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4BuildConfiguration</value>
125 |     <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">2</value>
126 |     <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
127 |    </valuemap>
128 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
129 |     <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/pi/build-QTRover-RPi-Release</value>
130 |     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
131 |      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
132 |       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
133 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">qmake</value>
134 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
135 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
136 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
137 |       <value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
138 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
139 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">false</value>
140 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">false</value>
141 |      </valuemap>
142 |      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.1">
143 |       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
144 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
145 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
146 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
147 |       <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
148 |        <value type="QString">-w</value>
149 |        <value type="QString">-r</value>
150 |       </valuelist>
151 |       <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">false</value>
152 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments"></value>
153 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
154 |      </valuemap>
155 |      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">2</value>
156 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
157 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
158 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
159 |     </valuemap>
160 |     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
161 |      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
162 |       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
163 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
164 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
165 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
166 |       <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
167 |        <value type="QString">-w</value>
168 |        <value type="QString">-r</value>
169 |       </valuelist>
170 |       <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">true</value>
171 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
172 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
173 |      </valuemap>
174 |      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
175 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
176 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
177 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
178 |     </valuemap>
179 |     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
180 |     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
181 |     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
182 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Release</value>
183 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
184 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4BuildConfiguration</value>
185 |     <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
186 |     <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
187 |    </valuemap>
188 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.2">
189 |     <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/pi/build-QTRover-RPi-Profile</value>
190 |     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
191 |      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
192 |       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
193 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">qmake</value>
194 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
195 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
196 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">true</value>
197 |       <value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
198 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
199 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">true</value>
200 |       <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">false</value>
201 |      </valuemap>
202 |      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.1">
203 |       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
204 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
205 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
206 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
207 |       <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
208 |        <value type="QString">-w</value>
209 |        <value type="QString">-r</value>
210 |       </valuelist>
211 |       <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">false</value>
212 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments"></value>
213 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
214 |      </valuemap>
215 |      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">2</value>
216 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
217 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
218 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
219 |     </valuemap>
220 |     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
221 |      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
222 |       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
223 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
224 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
225 |       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
226 |       <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
227 |        <value type="QString">-w</value>
228 |        <value type="QString">-r</value>
229 |       </valuelist>
230 |       <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">true</value>
231 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
232 |       <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
233 |      </valuemap>
234 |      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
235 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
236 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
237 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
238 |     </valuemap>
239 |     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
240 |     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
241 |     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
242 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Profile</value>
243 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
244 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4BuildConfiguration</value>
245 |     <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
246 |     <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
247 |    </valuemap>
248 |    <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">3</value>
249 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
250 |     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
251 |      <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
252 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
253 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
254 |      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
255 |     </valuemap>
256 |     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
257 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy locally</value>
258 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
259 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
260 |    </valuemap>
261 |    <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
262 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
263 |    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
264 |     <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
265 |     <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
266 |     <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
267 |     <value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
268 |     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
269 |     <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
270 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
271 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
272 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
273 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
274 |     <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
275 |     <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
276 |     <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
277 |     <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
278 |     <value type="int" key="Analyzer.Valgrind.LeakCheckOnFinish">1</value>
279 |     <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
280 |     <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
281 |     <value type="int" key="Analyzer.Valgrind.SelfModifyingCodeDetection">1</value>
282 |     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
283 |     <value type="bool" key="Analyzer.Valgrind.ShowReachable">false</value>
284 |     <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
285 |     <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
286 |     <valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
287 |      <value type="int">0</value>
288 |      <value type="int">1</value>
289 |      <value type="int">2</value>
290 |      <value type="int">3</value>
291 |      <value type="int">4</value>
292 |      <value type="int">5</value>
293 |      <value type="int">6</value>
294 |      <value type="int">7</value>
295 |      <value type="int">8</value>
296 |      <value type="int">9</value>
297 |      <value type="int">10</value>
298 |      <value type="int">11</value>
299 |      <value type="int">12</value>
300 |      <value type="int">13</value>
301 |      <value type="int">14</value>
302 |     </valuelist>
303 |     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
304 |     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
305 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">QTRover</value>
306 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
307 |     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/pi/QTRover/QTRover.pro</value>
308 |     <value type="bool" key="QmakeProjectManager.QmakeRunConfiguration.UseLibrarySearchPath">true</value>
309 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
310 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">QTRover.pro</value>
311 |     <value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
312 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory"></value>
313 |     <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory.default"></value>
314 |     <value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
315 |     <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
316 |     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
317 |     <value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
318 |     <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
319 |     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
320 |    </valuemap>
321 |    <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
322 |   </valuemap>
323 |  </data>
324 |  <data>
325 |   <variable>ProjectExplorer.Project.TargetCount</variable>
326 |   <value type="int">1</value>
327 |  </data>
328 |  <data>
329 |   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
330 |   <value type="int">18</value>
331 |  </data>
332 |  <data>
333 |   <variable>Version</variable>
334 |   <value type="int">18</value>
335 |  </data>
336 | </qtcreator>
337 | 


--------------------------------------------------------------------------------
/Chapter05/QTRover/main.cpp:
--------------------------------------------------------------------------------
 1 | #include "mainwindow.h"
 2 | #include <QApplication>
 3 | 
 4 | int main(int argc, char *argv[])
 5 | {
 6 |     QApplication a(argc, argv);
 7 |     MainWindow w;
 8 |     w.show();
 9 | 
10 |     return a.exec();
11 | }
12 | 


--------------------------------------------------------------------------------
/Chapter05/QTRover/mainwindow.cpp:
--------------------------------------------------------------------------------
 1 | #include "mainwindow.h"
 2 | #include "ui_mainwindow.h"
 3 | 
 4 | MainWindow::MainWindow(QWidget *parent) :
 5 |     QMainWindow(parent),
 6 |     ui(new Ui::MainWindow)
 7 | {
 8 |     ui->setupUi(this);
 9 |     wiringPiSetup();
10 |     pinMode(leftmotor1, OUTPUT);
11 |     pinMode(leftmotor2, OUTPUT);
12 |     pinMode(rightmotor1,OUTPUT);
13 |     pinMode(rightmotor2,OUTPUT);
14 | 
15 | }
16 | 
17 | MainWindow::~MainWindow()
18 | {
19 |     delete ui;
20 | }
21 | 
22 | void MainWindow::on_forward_clicked()
23 | {
24 | digitalWrite(leftmotor1,HIGH);
25 | digitalWrite(leftmotor2,LOW);
26 | digitalWrite(rightmotor1,HIGH);
27 | digitalWrite(rightmotor2,LOW);
28 | }
29 | 
30 | void MainWindow::on_backward_clicked()
31 | {
32 |     digitalWrite(leftmotor1,LOW);
33 |     digitalWrite(leftmotor2,HIGH);
34 |     digitalWrite(rightmotor1,LOW);
35 |     digitalWrite(rightmotor2,HIGH);
36 | }
37 | 
38 | void MainWindow::on_stop_clicked()
39 | {
40 |     digitalWrite(leftmotor1,HIGH);
41 |     digitalWrite(leftmotor2,HIGH);
42 |     digitalWrite(rightmotor1,HIGH);
43 |     digitalWrite(rightmotor2,HIGH);
44 | }
45 | 
46 | void MainWindow::on_left_pressed()
47 | {
48 |     digitalWrite(leftmotor1,LOW);
49 |     digitalWrite(leftmotor2,HIGH);
50 |     digitalWrite(rightmotor1,HIGH);
51 |     digitalWrite(rightmotor2,LOW);
52 | }
53 | 
54 | void MainWindow::on_left_released()
55 | {
56 |     digitalWrite(leftmotor1,HIGH);
57 |     digitalWrite(leftmotor2,HIGH);
58 |     digitalWrite(rightmotor1,HIGH);
59 |     digitalWrite(rightmotor2,HIGH);
60 | }
61 | 
62 | void MainWindow::on_right_pressed()
63 | {
64 |     digitalWrite(leftmotor1,HIGH);
65 |     digitalWrite(leftmotor2,LOW);
66 |     digitalWrite(rightmotor1,LOW);
67 |     digitalWrite(rightmotor2,HIGH);
68 | }
69 | 
70 | void MainWindow::on_right_released()
71 | {
72 |     digitalWrite(leftmotor1,HIGH);
73 |     digitalWrite(leftmotor2,HIGH);
74 |     digitalWrite(rightmotor1,HIGH);
75 |     digitalWrite(rightmotor2,HIGH);
76 | }
77 | 


--------------------------------------------------------------------------------
/Chapter05/QTRover/mainwindow.h:
--------------------------------------------------------------------------------
 1 | #ifndef MAINWINDOW_H
 2 | #define MAINWINDOW_H
 3 | #include <wiringPi.h>
 4 | #include <QMainWindow>
 5 | 
 6 | #define leftmotor1 0
 7 | #define leftmotor2 2
 8 | #define rightmotor1 3
 9 | #define rightmotor2 4
10 | namespace Ui {
11 | class MainWindow;
12 | }
13 | 
14 | class MainWindow : public QMainWindow
15 | {
16 |     Q_OBJECT
17 | 
18 | public:
19 |     explicit MainWindow(QWidget *parent = 0);
20 |     ~MainWindow();
21 | 
22 | private slots:
23 |     void on_forward_clicked();
24 | 
25 |     void on_backward_clicked();
26 | 
27 |     void on_stop_clicked();
28 | 
29 |     void on_left_pressed();
30 | 
31 |     void on_left_released();
32 | 
33 |     void on_right_pressed();
34 | 
35 |     void on_right_released();
36 | 
37 | private:
38 |     Ui::MainWindow *ui;
39 | };
40 | 
41 | #endif // MAINWINDOW_H
42 | 


--------------------------------------------------------------------------------
/Chapter05/QTRover/mainwindow.ui:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="UTF-8"?>
  2 | <ui version="4.0">
  3 |  <class>MainWindow</class>
  4 |  <widget class="QMainWindow" name="MainWindow">
  5 |   <property name="geometry">
  6 |    <rect>
  7 |     <x>0</x>
  8 |     <y>0</y>
  9 |     <width>400</width>
 10 |     <height>300</height>
 11 |    </rect>
 12 |   </property>
 13 |   <property name="windowTitle">
 14 |    <string>MainWindow</string>
 15 |   </property>
 16 |   <widget class="QWidget" name="centralWidget">
 17 |    <widget class="QPushButton" name="forward">
 18 |     <property name="geometry">
 19 |      <rect>
 20 |       <x>130</x>
 21 |       <y>-10</y>
 22 |       <width>101</width>
 23 |       <height>31</height>
 24 |      </rect>
 25 |     </property>
 26 |     <property name="text">
 27 |      <string>FORWARD</string>
 28 |     </property>
 29 |    </widget>
 30 |    <widget class="QPushButton" name="stop">
 31 |     <property name="geometry">
 32 |      <rect>
 33 |       <x>140</x>
 34 |       <y>90</y>
 35 |       <width>101</width>
 36 |       <height>31</height>
 37 |      </rect>
 38 |     </property>
 39 |     <property name="text">
 40 |      <string>STOP</string>
 41 |     </property>
 42 |    </widget>
 43 |    <widget class="QPushButton" name="right">
 44 |     <property name="geometry">
 45 |      <rect>
 46 |       <x>270</x>
 47 |       <y>90</y>
 48 |       <width>101</width>
 49 |       <height>31</height>
 50 |      </rect>
 51 |     </property>
 52 |     <property name="text">
 53 |      <string>RIGHT</string>
 54 |     </property>
 55 |    </widget>
 56 |    <widget class="QPushButton" name="left">
 57 |     <property name="geometry">
 58 |      <rect>
 59 |       <x>10</x>
 60 |       <y>90</y>
 61 |       <width>101</width>
 62 |       <height>31</height>
 63 |      </rect>
 64 |     </property>
 65 |     <property name="text">
 66 |      <string>LEFT</string>
 67 |     </property>
 68 |    </widget>
 69 |    <widget class="QPushButton" name="backward">
 70 |     <property name="geometry">
 71 |      <rect>
 72 |       <x>140</x>
 73 |       <y>190</y>
 74 |       <width>101</width>
 75 |       <height>31</height>
 76 |      </rect>
 77 |     </property>
 78 |     <property name="text">
 79 |      <string>BACKWARD</string>
 80 |     </property>
 81 |    </widget>
 82 |   </widget>
 83 |   <widget class="QMenuBar" name="menuBar">
 84 |    <property name="geometry">
 85 |     <rect>
 86 |      <x>0</x>
 87 |      <y>0</y>
 88 |      <width>400</width>
 89 |      <height>27</height>
 90 |     </rect>
 91 |    </property>
 92 |   </widget>
 93 |   <widget class="QToolBar" name="mainToolBar">
 94 |    <attribute name="toolBarArea">
 95 |     <enum>TopToolBarArea</enum>
 96 |    </attribute>
 97 |    <attribute name="toolBarBreak">
 98 |     <bool>false</bool>
 99 |    </attribute>
100 |   </widget>
101 |   <widget class="QStatusBar" name="statusBar"/>
102 |  </widget>
103 |  <layoutdefault spacing="6" margin="11"/>
104 |  <resources/>
105 |  <connections/>
106 | </ui>
107 | 


--------------------------------------------------------------------------------
/Chapter06/DisplayImage.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include <opencv2/opencv.hpp>
 4 | 
 5 | using namespace cv;
 6 | using namespace std;
 7 | int main()
 8 | {
 9 | 
10 | Mat img;
11 | 
12 | img = imread("Car.jpg");
13 | 
14 | imshow("Car Image", img);
15 | 
16 | waitKey(0);
17 | 
18 | return 0;
19 | }


--------------------------------------------------------------------------------
/Chapter07/BallTracing.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include<opencv2/opencv.hpp>
 3 | #include<opencv2/core/core.hpp>
 4 | #include<opencv2/highgui/highgui.hpp>
 5 | #include<opencv2/imgproc/imgproc.hpp>
 6 | using namespace cv;
 7 | using namespace std;
 8 | int main()
 9 | {
10 | 	Mat videofeed,resizevideo,thresholdvideo;
11 | 	VideoCapture vid(0);
12 | 	if (!vid.isOpened())
13 | 	{
14 | 		return -1;
15 | 	}	
16 | 	for (;;)
17 | 	{		
18 |     vid.read(videofeed);
19 | 	resize(videofeed, resizevideo, cvSize(640, 480));
20 | 	flip(resizevideo, resizevideo, 1);
21 | 	
22 | 	inRange(resizevideo, Scalar(39, 140, 34), Scalar(122, 245, 119), thresholdvideo); 
23 | 
24 | 	Moments m = moments(thresholdvideo,true);
25 | 	int x,y;
26 | 	x = m.m10/m.m00;
27 | 	y = m.m01/m.m00;	
28 | 	Point p(x,y);
29 | 	
30 | 	circle(resizevideo, p, 10, Scalar(0,0,128), -1);
31 | 	
32 | 	imshow("Image with center",resizevideo);
33 |     imshow("Thresolding Video",thresholdvideo);
34 | 	
35 | 	cout<<Mat(p)<< endl;
36 | 	
37 | 	if (waitKey(33) >= 0) break;
38 | 	}
39 | 	return 0;
40 | }
41 | 
42 | 
43 | 


--------------------------------------------------------------------------------
/Chapter07/Camerafeed.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <stdio.h>
 3 | #include<opencv2/opencv.hpp>
 4 | #include<opencv2/core/core.hpp>
 5 | #include<opencv2/highgui/highgui.hpp>
 6 | #include<opencv2/imgproc/imgproc.hpp>
 7 | using namespace cv;
 8 | using namespace std;
 9 | int main()
10 | {	Mat videoframe;
11 | 	VideoCapture vid(0);
12 | 	if (!vid.isOpened())
13 | 	{
14 | 		cout<<"Error opening camera"<<endl;
15 | 		return -1;
16 | 	}
17 | 	for(;;)
18 | 	{
19 | 		vid.read(videoframe);
20 |         imshow("Frame", videoframe);
21 | 		if (waitKey(1) > 0) break;
22 | 	}
23 | 	return 0;
24 | }
25 | 
26 | 


--------------------------------------------------------------------------------
/Chapter07/ObjectDetection.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include<opencv2/opencv.hpp>
 3 | #include<opencv2/core/core.hpp>
 4 | #include<opencv2/highgui/highgui.hpp>
 5 | #include<opencv2/imgproc/imgproc.hpp>
 6 | using namespace cv;
 7 | using namespace std;
 8 | int main()
 9 | {
10 | Mat img, resizeimg,thresimage;
11 | img = imread("greenball.png");
12 | imshow("Green Ball Image", img);
13 | waitKey(0);
14 | resize(img, resizeimg, cvSize(640, 480));
15 | imshow("Resized Image", resizeimg);
16 | waitKey(0);
17 | inRange(resizeimg, Scalar(39, 140, 34), Scalar(122, 245, 119),
18 | thresimage);
19 | imshow("Thresholded Image", thresimage);
20 | waitKey(0);
21 | Moments m = moments(thresimage,true);
22 | int x,y;
23 | x = m.m10/m.m00;
24 | y = m.m01/m.m00;
25 | Point p(x,y);
26 | circle(img, p, 5, Scalar(0,0,200), -1);
27 | imshow("Image with center",img);
28 | waitKey(0);
29 | return 0;
30 | }
31 | 


--------------------------------------------------------------------------------
/Chapter07/ObjectFollowingRobot.cpp:
--------------------------------------------------------------------------------
  1 | /*This programs will lag a little bit as the ultrasonic sensor will try to measure
  2 |  * distance and the camera will try tracking the colored ball. You can also check 
  3 |  * the ObjectFollowingRobotwithoutUltrasonic.cpp program in which the Ultrasonic sensor is 
  4 |  * completely removed and because of this the ball tracking is done faster in that program */
  5 | #include <iostream>
  6 | #include <opencv2/opencv.hpp>
  7 | #include <opencv2/core/core.hpp>
  8 | #include <opencv2/highgui/highgui.hpp>
  9 | #include <opencv2/imgproc/imgproc.hpp>
 10 | #include <wiringPi.h>
 11 | 
 12 | using namespace cv;
 13 | using namespace std;
 14 | 
 15 | #define trigger 12
 16 | #define echo 13
 17 | 
 18 | long startTime;
 19 | long stopTime;
 20 | 
 21 | void forward()
 22 | {
 23 |         digitalWrite(0,HIGH);
 24 | 	digitalWrite(2,LOW);
 25 | 	digitalWrite(3,HIGH);
 26 | 	digitalWrite(4,LOW);
 27 | }
 28 | 
 29 | /*In left function, program for taking a right turn is written as your right side is the left side for the robot*/
 30 | void left()
 31 | {
 32 | 	digitalWrite(0,HIGH);
 33 | 	digitalWrite(2,LOW);
 34 | 	digitalWrite(3,LOW);
 35 | 	digitalWrite(4,HIGH);
 36 | }
 37 | 
 38 | /*In right  function, program for taking a left  turn is written as your left side is the right side for the robot*/
 39 | void right()
 40 | {
 41 | 	digitalWrite(0,LOW);
 42 | 	digitalWrite(2,HIGH);
 43 | 	digitalWrite(3,HIGH);
 44 | 	digitalWrite(4,LOW);
 45 | }
 46 | 
 47 | void stop()
 48 | {
 49 |     digitalWrite(0,HIGH);
 50 | 	digitalWrite(2,HIGH);
 51 | 	digitalWrite(3,HIGH);
 52 | 	digitalWrite(4,HIGH);
 53 | }
 54 | 
 55 | int main()
 56 | {
 57 | 	wiringPiSetup();
 58 | 	
 59 | 	pinMode(trigger,OUTPUT);
 60 |         pinMode(echo, INPUT); 
 61 |     
 62 | 	pinMode(0,OUTPUT);
 63 | 	pinMode(2,OUTPUT);
 64 | 	pinMode(3,OUTPUT);
 65 | 	pinMode(4,OUTPUT);
 66 | 	
 67 | 	Mat videofeed,resizevideo,thresholdvideo;
 68 | 	
 69 | 	VideoCapture vid(0);
 70 | 	
 71 | 	if (!vid.isOpened())
 72 | 	{
 73 | 		return -1;
 74 | 	}	
 75 | 	for (;;)
 76 | 	{		
 77 |         vid.read(videofeed);
 78 | 	resize(videofeed, resizevideo, cvSize(640, 480));
 79 | 	flip(resizevideo, resizevideo, 0);
 80 | 	
 81 | 	inRange(resizevideo, Scalar(39, 140, 34), Scalar(122, 245, 119), thresholdvideo); 
 82 | 
 83 | 	Moments m = moments(thresholdvideo,true);
 84 | 	int x,y;
 85 | 	x = m.m10/m.m00;
 86 | 	y = m.m01/m.m00;	
 87 | 	Point p(x,y);
 88 | 	
 89 | 	circle(resizevideo, p, 10, Scalar(0,0,128), -1);
 90 | 	
 91 | 	imshow("Image with center",resizevideo);
 92 |         imshow("Thresolding Video",thresholdvideo);
 93 | 	
 94 | 	digitalWrite(trigger,LOW);
 95 |         delay(500);
 96 | 
 97 |         digitalWrite(trigger,HIGH);
 98 |         delayMicroseconds(10);
 99 | 
100 |         digitalWrite(trigger,LOW); 
101 | 
102 |         while(digitalRead(echo) == LOW);
103 |         startTime = micros();
104 | 
105 |         while(digitalRead(echo) == HIGH);
106 |         stopTime = micros(); 
107 |  
108 | 	long totalTime= stopTime - startTime; 
109 |         float distance = (totalTime * 0.034)/2;
110 | 	
111 | 	if(distance < 20)
112 | 	{
113 | 	cout<<"Object close to Robot"<< " " << Mat(p)<< " " <<distance << " cm" << endl;
114 | 	stop();	
115 | 	}
116 | 	else
117 | 	{
118 | 	
119 | 	if(x<20 && y< 20)
120 |       {
121 |       cout<<"Object not found"<< " " << Mat(p)<< " " <<distance << " cm" << endl;
122 |       stop();
123 |       }
124 |       if(x > 20 && x < 170 && y > 20 )
125 |       {
126 |       cout<<"LEFT TURN"<< " " << Mat(p)<< " " <<distance << " cm" << endl;
127 |       left();
128 |       }
129 |       if(x > 170 && x < 470)
130 |       {
131 |       cout<<"FORWARD"<< " " << Mat(p)<< " " <<distance << " cm" << endl;
132 |       forward();
133 |       }
134 |       if(x > 470 && x < 640)
135 |       {
136 |      cout<<"RIGHT TURN"<< " " << Mat(p)<< " " <<distance << " cm" << endl;
137 |       right();
138 |       }
139 | }
140 | 	
141 | 	if (waitKey(33) >= 0) break;
142 | 	}
143 | 	return 0;
144 | }
145 | 
146 | 
147 | 
148 | 


--------------------------------------------------------------------------------
/Chapter07/ObjectFollowingRobotwithoutUltrasonic.cpp:
--------------------------------------------------------------------------------
  1 | /*In this program we are not masuring distance using the ultrasonic sensor and thats why this program is faster than ObjectFollowingRobot program*/
  2 | #include <iostream>
  3 | #include <opencv2/opencv.hpp>
  4 | #include <opencv2/core/core.hpp>
  5 | #include <opencv2/highgui/highgui.hpp>
  6 | #include <opencv2/imgproc/imgproc.hpp>
  7 | #include <wiringPi.h>
  8 | 
  9 | using namespace cv;
 10 | using namespace std;
 11 | 
 12 | void forward()
 13 | {
 14 |     digitalWrite(0,HIGH);
 15 | 	digitalWrite(2,LOW);
 16 | 	digitalWrite(3,HIGH);
 17 | 	digitalWrite(4,LOW);
 18 | }
 19 | /*In left function, program for taking a right turn is written as your right side is the left side for the robot*/
 20 | void left()
 21 | {
 22 | 	digitalWrite(0,HIGH);
 23 | 	digitalWrite(2,LOW);
 24 | 	digitalWrite(3,LOW);
 25 | 	digitalWrite(4,HIGH);
 26 | }
 27 | /*In right  function, program for taking a left  turn is written as your left side is the right side for the robot*/
 28 | void right()
 29 | {
 30 | 	digitalWrite(0,LOW);
 31 | 	digitalWrite(2,HIGH);
 32 | 	digitalWrite(3,HIGH);
 33 | 	digitalWrite(4,LOW);
 34 | }
 35 | 
 36 | void stop()
 37 | {
 38 |     digitalWrite(0,HIGH);
 39 | 	digitalWrite(2,HIGH);
 40 | 	digitalWrite(3,HIGH);
 41 | 	digitalWrite(4,HIGH);
 42 | }
 43 | 
 44 | int main()
 45 | {
 46 | 	wiringPiSetup();
 47 | 
 48 | 	pinMode(0,OUTPUT);
 49 | 	pinMode(2,OUTPUT);
 50 | 	pinMode(3,OUTPUT);
 51 | 	pinMode(4,OUTPUT);
 52 | 	
 53 | 	Mat videofeed,resizevideo,thresholdvideo;
 54 | 	
 55 | 	VideoCapture vid(0);
 56 | 	
 57 | 	if (!vid.isOpened())
 58 | 	{
 59 | 		return -1;
 60 | 	}	
 61 | 	for (;;)
 62 | 	{		
 63 |     vid.read(videofeed);
 64 | 	resize(videofeed, resizevideo, cvSize(640, 480));
 65 | 	flip(resizevideo, resizevideo, 0);
 66 | 	
 67 | 	inRange(resizevideo, Scalar(39, 140, 34), Scalar(122, 245, 119), thresholdvideo); 
 68 | 
 69 | 	Moments m = moments(thresholdvideo,true);
 70 | 	int x,y;
 71 | 	x = m.m10/m.m00;
 72 | 	y = m.m01/m.m00;	
 73 | 	Point p(x,y);
 74 | 	
 75 | 	circle(resizevideo, p, 10, Scalar(0,0,128), -1);
 76 | 	
 77 | 	imshow("Image with center",resizevideo);
 78 |     imshow("Thresolding Video",thresholdvideo);
 79 | 	
 80 | 	
 81 | 	if(x<20 && y< 20)
 82 |       {
 83 |       cout<<"Object not found"<< Mat(p) << endl;
 84 |       stop();
 85 |       }
 86 |       
 87 |       if(x > 20 && x < 170 && y > 20 )
 88 |       {
 89 |       cout<<"LEFT TURN"<< " " << Mat(p) << endl;
 90 |       left();
 91 |       }
 92 |       
 93 |       if(x > 170 && x < 470)
 94 |       {
 95 |       cout<<"FORWARD"<< " " << Mat(p) << endl;
 96 |       forward();
 97 |       }
 98 |       
 99 |       if(x > 470 && x < 640)
100 |       {
101 |       cout<<"RIGHT TURN"<< " " << Mat(p) << endl;
102 |       right();
103 |       }
104 | 	
105 | 	if (waitKey(33) >= 0) break;
106 | 	}
107 | 	return 0;
108 | }
109 | 


--------------------------------------------------------------------------------
/Chapter08/FaceDetection.cpp:
--------------------------------------------------------------------------------
 1 | #include <opencv2/opencv.hpp>
 2 | #include <opencv2/core/core.hpp>
 3 | #include <opencv2/highgui/highgui.hpp>
 4 | #include <opencv2/imgproc/imgproc.hpp>
 5 | #include <iostream>
 6 | 
 7 | using namespace std;
 8 | using namespace cv;
 9 | 
10 | int main(void)
11 | {
12 | 	CascadeClassifier faceDetector("haarcascade_frontalface_alt2.xml");
13 | 
14 | 	VideoCapture vid(0);
15 | 
16 | 	Mat videofeed, grayfeed;
17 | 	
18 | 	if (!vid.isOpened())
19 |     {
20 |     cout<< "Error opening camera"<<endl;
21 |     return -1;
22 |     }
23 | 
24 | 	for(;;)
25 | 	{
26 | 		vid.read(videofeed);
27 | 		flip(videofeed, videofeed, 1);  //If your RPi camera is fitted upside down, change the third parameter to 0 for vertical flip
28 |                 cvtColor(videofeed, grayfeed, COLOR_BGR2GRAY);
29 | 		equalizeHist(grayfeed, grayfeed);
30 |         
31 |         vector<Rect> face;
32 | 		faceDetector.detectMultiScale(grayfeed, face, 1.1, 5, 0 | CASCADE_FIND_BIGGEST_OBJECT,Size(30, 30));
33 | 	
34 |      for (size_t f = 0; f < face.size(); f++)	
35 | 	 {
36 | 	      rectangle(videofeed, face[f], Scalar(255, 0, 0), 2);
37 | 		  putText(videofeed, "Face Detected", Point(face[f].x, face[f].y), FONT_HERSHEY_PLAIN, 1.1, Scalar(0, 255, 0), 1.0);  				
38 |      }
39 |           imshow("Face Detection", videofeed);
40 | 		
41 | 		if (waitKey(1) >= 0) break;
42 | 
43 | 	}
44 | 	return 0;
45 | }
46 | 


--------------------------------------------------------------------------------
/Chapter08/Facetrackingrobot.cpp:
--------------------------------------------------------------------------------
  1 | #include <opencv2/opencv.hpp>
  2 | #include <opencv2/core/core.hpp>
  3 | #include <opencv2/highgui/highgui.hpp>
  4 | #include <opencv2/imgproc/imgproc.hpp>
  5 | #include <iostream>
  6 | #include <wiringPi.h>
  7 | #include <softPwm.h>
  8 | 
  9 | using namespace std;
 10 | using namespace cv;
 11 | 
 12 | 
 13 | int main(void)
 14 | {
 15 | 	wiringPiSetup();
 16 | 	
 17 | 	pinMode(0,OUTPUT);
 18 | 	pinMode(2,OUTPUT);
 19 | 	pinMode(3,OUTPUT);
 20 | 	
 21 |     softPwmCreate(24,0,100);
 22 |     softPwmCreate(27,0,100);
 23 |     softPwmCreate(25,0,100);
 24 |     softPwmCreate(28,0,100);
 25 | 	
 26 | 	CascadeClassifier faceDetector("haarcascade_frontalface_alt2.xml");
 27 | 	CascadeClassifier eyeDetectorright("haarcascade_righteye_2splits.xml");
 28 | 	CascadeClassifier eyeDetectorleft("haarcascade_lefteye_2splits.xml");
 29 | 	CascadeClassifier smileDetector("haarcascade_smile.xml");
 30 | 	
 31 |     VideoCapture vid(0);
 32 | 
 33 | 	Mat videofeed, grayfeed;
 34 | 	
 35 | 	if (!vid.isOpened())
 36 |     {
 37 |     cout<< "Error opening camera"<<endl;
 38 |     return -1;
 39 |     }
 40 | 
 41 | 	for(;;)
 42 | 	{
 43 | 	vid.read(videofeed);
 44 | 	flip(videofeed, videofeed, 1); //If your RPi camera is fitted upside down, change the third parameter to 0 for vertical flip
 45 |                 
 46 | 	cvtColor(videofeed, grayfeed, COLOR_BGR2GRAY);
 47 | 	equalizeHist(grayfeed, grayfeed);
 48 |         
 49 |          bool lefteyedetect = false;
 50 |          bool righteyedetect = false;
 51 |          bool isSmiling = false;
 52 |          int facex, facey;
 53 | 		 
 54 |         vector<Rect> face;
 55 | 		faceDetector.detectMultiScale(grayfeed, face, 1.1, 5, 0 | CASCADE_SCALE_IMAGE,Size(30, 30));
 56 | 	
 57 |      for (size_t f = 0; f < face.size(); f++)	
 58 | 	 {
 59 | 	      rectangle(videofeed, face[f], Scalar(255, 0, 0), 2);
 60 | 		  putText(videofeed, "Face Detected", Point(face[f].x, face[f].y), FONT_HERSHEY_PLAIN, 1.0, Scalar(0, 255, 0), 1.0);  
 61 | 		  facex = face[f].x +face[f].width/2;
 62 | 		  facey = face[f].y + face[f].height/2;	
 63 | 		  Point facecenter(facex, facey);
 64 | 		  circle(videofeed,facecenter,5,Scalar(255,255,255),-1);
 65 | 		  
 66 | 		  Mat faceroi = videofeed(face[f]);	
 67 | 		  vector<Rect> smile, lefteye, righteye;
 68 | 		   
 69 | 		  eyeDetectorleft.detectMultiScale(faceroi, lefteye, 1.3, 25, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
 70 | 		  for (size_t le = 0; le < lefteye.size(); le++)
 71 | 			{
 72 | 		        Point center(face[f].x + lefteye[le].x + lefteye[le].width*0.5, face[f].y + lefteye[le].y + lefteye[le].height*0.5);
 73 | 			    int radius = cvRound((lefteye[le].width + lefteye[le].height)*0.25);
 74 | 				circle(videofeed, center, radius, Scalar(0, 0, 255), 2);
 75 | 				lefteyedetect = true;
 76 | 		   }
 77 | 		   
 78 | 		  eyeDetectorright.detectMultiScale(faceroi, righteye, 1.3, 25, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
 79 | 		  for (size_t re = 0; re < righteye.size(); re++)
 80 | 			{
 81 | 		        Point center(face[f].x + righteye[re].x + righteye[re].width*0.5, face[f].y + righteye[re].y + righteye[re].height*0.5);
 82 | 			    int radius = cvRound((righteye[re].width + righteye[re].height)*0.25);
 83 | 				circle(videofeed, center, radius, Scalar(255, 255, 0), 2);
 84 | 				righteyedetect = true;
 85 | 		   }
 86 | 				
 87 |            smileDetector.detectMultiScale(faceroi, smile, 1.3, 25, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
 88 |            for (size_t sm = 0; sm <smile.size(); sm++)
 89 | 			{
 90 | 				Point scenter(face[f].x + smile[sm].x + smile[sm].width*0.5, face[f].y + smile[sm].y + smile[sm].height*0.5);
 91 | 				int sradius = cvRound((smile[sm].width + smile[sm].height)*0.25);
 92 | 				circle(videofeed, scenter, sradius, Scalar(0, 255, 0), 2, 8, 0);
 93 | 				isSmiling = true;
 94 | 			}		
 95 |      }
 96 |      
 97 |         if(lefteyedetect == true){
 98 | 		 digitalWrite(0,HIGH);
 99 | 		 }
100 | 		 else
101 | 		 {
102 | 		digitalWrite(0,LOW);
103 | 		 }
104 | 		 
105 |         if(righteyedetect == true){
106 | 		 digitalWrite(2,HIGH);
107 | 		 }
108 | 		 else
109 | 		 {
110 | 		digitalWrite(2,LOW);
111 | 		 }
112 | 		 
113 | 		if(isSmiling == true){
114 | 		 digitalWrite(3,HIGH);
115 | 		 }
116 | 		 else
117 | 		 {
118 | 		digitalWrite(3,LOW);
119 | 		 }
120 | 		 
121 | 		if(facex > 0 && facex < 280)
122 | 		{
123 | /*Now since the camera and the face are looking at each other, so when the white dot moves on the left side 
124 |  * of the camera the robot should take a right turn in order to follow the white dot*/
125 | 		putText(videofeed, "Left", Point(320,10), FONT_HERSHEY_PLAIN, 1.0, CV_RGB(0, 0, 255), 2.0); 
126 | 		softPwmWrite(24, 30);
127 | 		softPwmWrite(27, 0);
128 |         softPwmWrite(25, 0);
129 | 		softPwmWrite(28, 30); 
130 | 		}	
131 | 			
132 | 		if(facex > 360 && facex < 640)
133 | 		{
134 | /*Similarly since the camera and the face are looking at each other, so when the white dot moves on the right side 
135 |  * of the camera the robot should take a left turn in order to follow the white dot*/
136 | 		putText(videofeed, "Right", Point(320,10), FONT_HERSHEY_PLAIN, 1.0, CV_RGB(0, 0, 255), 2.0); 
137 | 	    softPwmWrite(24, 0);
138 |         softPwmWrite(27, 30);
139 |         softPwmWrite(25, 30);
140 |         softPwmWrite(28, 0);
141 | 		}
142 | 	    if(facex > 280 && facex < 360)
143 | 			{
144 | 		putText(videofeed, "Middle", Point(320,10), FONT_HERSHEY_PLAIN, 1.0, CV_RGB(0, 0, 255), 2.0); 
145 | 	    softPwmWrite(24, 0);
146 |         softPwmWrite(27, 0);
147 |         softPwmWrite(25, 0);
148 |         softPwmWrite(28, 0);
149 | 			}
150 |         imshow("Facial Detection", videofeed);
151 | 		
152 | 		if (waitKey(1) >= 0) break;
153 | 
154 | 	}
155 | 	return 0;
156 | }
157 | 


--------------------------------------------------------------------------------
/Chapter08/SmilingFace.cpp:
--------------------------------------------------------------------------------
 1 | #include <opencv2/opencv.hpp>
 2 | #include <opencv2/core/core.hpp>
 3 | #include <opencv2/highgui/highgui.hpp>
 4 | #include <opencv2/imgproc/imgproc.hpp>
 5 | #include <iostream>
 6 | 
 7 | using namespace std;
 8 | using namespace cv;
 9 | 
10 | int main(void)
11 | {
12 | 	CascadeClassifier faceDetector("haarcascade_frontalface_alt2.xml");
13 | 	
14 | 	CascadeClassifier eyeDetectorright("haarcascade_righteye_2splits.xml");
15 | 	
16 | 	CascadeClassifier eyeDetector("haarcascade_eye.xml");
17 | 	
18 | 	CascadeClassifier eyeDetectorleft("haarcascade_lefteye_2splits.xml");
19 | 
20 | 	CascadeClassifier smileDetector("haarcascade_smile.xml");
21 | 	
22 | 
23 | 	VideoCapture vid(0);
24 | 
25 | 	Mat videofeed, grayfeed;
26 | 	
27 | 	if (!vid.isOpened())
28 |     {
29 |     cout<< "Error opening camera"<<endl;
30 |     return -1;
31 |     }
32 | 
33 | 	for(;;)
34 | 	{
35 | 		vid.read(videofeed);
36 | 		flip(videofeed, videofeed, 1); //If your RPi camera is fitted upside down, change the third parameter to 0 for vertical flip
37 |         cvtColor(videofeed, grayfeed, COLOR_BGR2GRAY);
38 | 		equalizeHist(grayfeed, grayfeed);
39 |         
40 |         vector<Rect> face;
41 | 		faceDetector.detectMultiScale(grayfeed, face, 1.1, 5, 0 | CASCADE_FIND_BIGGEST_OBJECT,Size(30, 30));
42 | 	
43 |      for (size_t f = 0; f < face.size(); f++)	
44 | 	 {
45 | 	      rectangle(videofeed, face[f], Scalar(255, 0, 0), 2);
46 | 		  putText(videofeed, "Face Detected", Point(face[f].x, face[f].y), FONT_HERSHEY_PLAIN, 1.0, Scalar(0, 255, 0), 1.0);  
47 | 		  
48 | 		  Mat faceROI = videofeed(face[f]);	
49 | 		  vector<Rect> eyes, smile, lefteye, righteye;
50 | 		
51 | 		eyeDetector.detectMultiScale(faceROI, eyes, 1.3, 5, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
52 | 		  for (size_t e = 0; e < eyes.size(); e++)
53 | 			{
54 | 		        Point center(face[f].x + eyes[e].x + eyes[e].width*0.5, face[f].y + eyes[e].y + eyes[e].height*0.5);
55 | 			    int radius = cvRound((eyes[e].width + eyes[e].height)*0.25);
56 | 				circle(videofeed, center, radius, Scalar(0, 0, 255), 2, 8, 0);
57 | 		   }
58 | 		   
59 | 	/* 	eyeDetectorleft.detectMultiScale(faceROI, lefteye, 1.3, 25, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
60 | 		  for (size_t le = 0; le < lefteye.size(); le++)
61 | 			{
62 | 		        Point center(face[f].x + lefteye[le].x + lefteye[le].width*0.5, face[f].y + lefteye[le].y + lefteye[le].height*0.5);
63 | 			    int radius = cvRound((lefteye[le].width + lefteye[le].height)*0.25);
64 | 				circle(videofeed, center, radius, Scalar(0, 0, 255), 2, 8, 0);
65 | 		   }
66 | 		   
67 | 		  eyeDetectorright.detectMultiScale(faceROI, righteye, 1.3, 25, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
68 | 		  for (size_t re = 0; re < righteye.size(); re++)
69 | 			{
70 | 		        Point center(face[f].x + righteye[re].x + righteye[re].width*0.5, face[f].y + righteye[re].y + righteye[re].height*0.5);
71 | 			    int radius = cvRound((righteye[re].width + righteye[re].height)*0.25);
72 | 				circle(videofeed, center, radius, Scalar(0, 255, 0), 2, 8, 0);
73 | 		   }*/
74 | 				
75 |           smileDetector.detectMultiScale(faceROI, smile, 1.3, 35, 0 |CASCADE_SCALE_IMAGE,Size(30, 30));
76 |            for (size_t sm = 0; sm <smile.size(); sm++)
77 | 			{
78 | 				Point scenter(face[f].x + smile[sm].x + smile[sm].width*0.5, face[f].y + smile[sm].y + smile[sm].height*0.5);
79 | 				int sradius = cvRound((smile[sm].width + smile[sm].height)*0.25);
80 | 				circle(videofeed, scenter, sradius, Scalar(0, 255, 0), 2, 8, 0);
81 | 			}		
82 |      }
83 |           imshow("Facial Detection", videofeed);
84 | 		
85 | 		if (waitKey(1) >= 0) break;
86 | 
87 | 	}
88 | 	return 0;
89 | }
90 | 
91 | 


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/Chapter09/VoiceBot.c:
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 1 | #include <stdio.h>
 2 | #include <unistd.h>
 3 | #include <sys/socket.h>
 4 | #include <bluetooth/bluetooth.h>
 5 | #include <bluetooth/rfcomm.h>
 6 | #include <wiringPi.h>
 7 | 
 8 | int main(void)
 9 | {
10 |         wiringPiSetup();
11 |         pinMode(0,OUTPUT);
12 | 	pinMode(2,OUTPUT);
13 | 	pinMode(3,OUTPUT);
14 | 	pinMode(4,OUTPUT);
15 | 	
16 | 	struct sockaddr_rc server_address = { 0 }, client_address = { 0 };
17 |     char data[1024] = { 0 };
18 |     int s, clientsocket, bytes;
19 |     socklen_t opt = sizeof(client_address);
20 | 
21 |     
22 |     s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
23 | 
24 | 
25 |     server_address.rc_family = AF_BLUETOOTH;
26 |     server_address.rc_bdaddr = *BDADDR_ANY;
27 |     server_address.rc_channel = (uint8_t) 1;
28 | 	
29 |     bind(s, (struct sockaddr *)&server_address, sizeof(server_address));
30 |     
31 |     listen(s, 1);
32 | 
33 | 
34 |     clientsocket = accept(s, (struct sockaddr *)&client_address, &opt);
35 | 
36 |     ba2str( &client_address.rc_bdaddr, data );
37 |     fprintf(stderr, "Connected to %s\n", data);
38 |     memset(data, 0, sizeof(data));
39 | 
40 |   for(;;){
41 |     bytes = read(clientsocket, data, sizeof(data));
42 |     if( bytes > 0 ) {
43 |         printf("Alphabet: %s\n", data);
44 | 	if(*data=='F')
45 |         {
46 |         digitalWrite(0,HIGH);
47 |         digitalWrite(2,LOW);		
48 |         digitalWrite(3,HIGH);
49 | 	    digitalWrite(4,LOW);
50 |         }
51 |         else if(*data=='B')
52 |         {
53 |         digitalWrite(0,LOW);
54 |         digitalWrite(2,HIGH);		
55 |         digitalWrite(3,LOW);
56 | 	    digitalWrite(4,HIGH);
57 |         }
58 | 	else if(*data=='L')
59 |         {
60 |         digitalWrite(0,LOW);
61 |         digitalWrite(2,HIGH);		
62 |         digitalWrite(3,HIGH);
63 | 	    digitalWrite(4,LOW);
64 |         }
65 | 	else if(*data=='R')
66 |         {
67 |         digitalWrite(0,HIGH);
68 |         digitalWrite(2,LOW);		
69 |         digitalWrite(3,LOW);
70 | 	    digitalWrite(4,HIGH);
71 |         }
72 | 	else if(*data=='S')
73 |         {
74 |         digitalWrite(0,LOW);
75 |         digitalWrite(2,LOW);		
76 |         digitalWrite(3,LOW);
77 | 	    digitalWrite(4,LOW);	
78 |         }
79 |     }
80 | }
81 |     // close connection
82 |     close(clientsocket);
83 |     close(s);
84 |     return 0;
85 | }
86 | 


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/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2018 Packt
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


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/README.md:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | 
 4 | # Hands-On Robotics Programming with Cpp 
 5 | 
 6 | <a href="https://prod.packtpub.com/hardware-and-creative/hands-robotics-programming-c?utm_source=github&utm_medium=repository&utm_campaign=9781789139006">  <img src="https://prod.packtpub.com/media/catalog/product/cache/a22c7d190d97ca25f5f1089471ab8502/b/1/b10651_mockupcover_0.png" alt="Hands-On Robotics Programming with Cpp" height="256px" align="right"></a>
 7 | 
 8 | This is the code repository for [Hands-On Robotics Programming with Cpp](https://prod.packtpub.com/hardware-and-creative/hands-robotics-programming-c?utm_source=github&utm_medium=repository&utm_campaign=9781789139006), published by Packt.
 9 | 
10 | **Leverage Raspberry Pi 3 and C++ libraries to build intelligent robotics applications**
11 | 
12 | ## What is this book about?
13 | C++ is one of the most popular legacy programming languages for robotics, and a combination of C++ and robotics hardware is used in many leading industries. This book will bridge the gap between Raspberry Pi and C/C++ programming and enable you to develop applications for Raspberry Pi. To follow along with the projects covered in the book, you can implement C programs in Raspberry Pi with the wiringPi library.
14 | 
15 | With this book, you’ll develop a fully functional car robot and write programs to move it in different directions. You’ll then create an obstacle - avoiding robot using an ultrasonic sensor. Furthermore, you’ll find out how to control the robot wirelessly using your PC/Mac. This book will also help you work with object detection and tracking using OpenCV, and guide you through exploring face detection techniques. Finally, you will create an Android app and control the robot wirelessly with an Android smartphone.
16 | 
17 | By the end of this book, you will have gained experience in developing a robot using Raspberry Pi and C/C++ programming.
18 | 
19 | This book covers the following exciting features:
20 | 
21 | * Install software in Raspberry Pi compatible with C++ programming
22 | * Program the Raspberry Pi in C++ to run a motor
23 | * Control RPi-powered robot wirelessly with your laptop or PC
24 | * Program an RPi camera using OpenCV Control a Raspberry Pi robot with voice commands
25 | * Implement face and object detection with Raspberry Pi
26 | 
27 | If you feel this book is for you, get your [copy](https://www.amazon.com/dp/1789139007) today!
28 | 
29 | <a href="https://www.packtpub.com/?utm_source=github&utm_medium=banner&utm_campaign=GitHubBanner"><img src="https://raw.githubusercontent.com/PacktPublishing/GitHub/master/GitHub.png" 
30 | alt="https://www.packtpub.com/" border="5" /></a>
31 | 
32 | ## Instructions and Navigations
33 | All of the code is organized into folders. For example, Chapter02.
34 | 
35 | **Following is what you need for this book:**
36 | This book is for developers, programmers, and robotics enthusiasts interested in leveraging C++ to build exciting robotics applications. Prior knowledge of C++ is necessary to understand the projects covered in this book.
37 | 
38 | With the following software and hardware list you can run all code files present in the book:
39 | ### Software and Hardware List
40 | | Chapter | Software/Hardware required | OS required |
41 | | -------- | ------------------------------------ | ----------------------------------- |
42 | | All | Raspberry Pi Zero or Raspberry Pi B+ | Raspbian Stretch |
43 | 
44 | 
45 | We also provide a PDF file that has color images of the screenshots/diagrams used in this book. [Click here to download it](https://www.packtpub.com/sites/default/files/downloads/9781789139006_ColorImages.pdf).
46 | 
47 | ### Related products
48 | * Learn Robotics Programming [[PACKT]](https://prod.packtpub.com/hardware-and-creative/learn-robotics-programming?utm_source=github&utm_medium=repository&utm_campaign=9781789340747) [[Amazon]](https://www.amazon.com/dp/1789340748)
49 | 
50 | * Mastering ROS for Robotics Programming [[PACKT]](https://prod.packtpub.com/hardware-and-creative/mastering-ros-robotics-programming?utm_source=github&utm_medium=repository&utm_campaign=9781783551798) [[Amazon]](https://www.amazon.com/dp/1788478959)
51 | 
52 | 
53 | ## Get to Know the Author
54 | **Dinesh Tavasalkar** is a trainer and online instructor from India. He has trained more than 8,000+ students on topics related to robotics, Internet of Things, Arduino, Raspberry Pi, Android app development, augmented reality, and virtual reality. Dinesh's online courses have been undertaken by 25,000+ people on Udemy from more than 150+ countries. Some of his popular courses on Udemy include Robotics for beginners, Smartphone Control Robot using Arduino and Android, Build Augmented Reality apps using Unity and Vuforia, and Build Virtual Reality games for Google Cardboard using Unity. He also runs a YouTube channel called EngineersDream, where he teaches Android application development.
55 | 
56 | 
57 | ****
58 | 
59 | 
60 | ### Suggestions and Feedback
61 | [Click here](https://docs.google.com/forms/d/e/1FAIpQLSdy7dATC6QmEL81FIUuymZ0Wy9vH1jHkvpY57OiMeKGqib_Ow/viewform) if you have any feedback or suggestions.
62 | 
63 | 
64 | ### Download a free PDF
65 | 
66 |  <i>If you have already purchased a print or Kindle version of this book, you can get a DRM-free PDF version at no cost.<br>Simply click on the link to claim your free PDF.</i>
67 | <p align="center"> <a href="https://packt.link/free-ebook/9781789139006">https://packt.link/free-ebook/9781789139006 </a> </p>


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