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.flows.json.backup
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],
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"level": "0",
"out": "pwm",
"sermin": "1000",
"sermax": "2000",
"x": 690,
"y": 540,
"wires": []
},
{
"id": "c5c2a14d.ba08d",
"type": "pi-gpiod out",
"z": "f24f522c.5061",
"name": "Derecha-A",
"host": "localhost",
"port": 8888,
"pin": "17",
"set": "",
"level": "0",
"out": "pwm",
"sermin": "1000",
"sermax": "2000",
"x": 690,
"y": 480,
"wires": []
},
{
"id": "bee2f959.7c1fd8",
"type": "inject",
"z": "6e643c60.b53764",
"name": "",
"repeat": "0.1",
"crontab": "",
"once": false,
"onceDelay": 0.1,
"topic": "",
"payload": "",
"payloadType": "str",
"x": 150,
"y": 380,
"wires": [
[
"e5dc70e7.7f0fd"
]
]
},
{
"id": "288cb4a8.31155c",
"type": "function",
"z": "6e643c60.b53764",
"name": "barrido-sensor",
"func": "var pos = global.get('posRadar');\nvar subida = flow.get('subida');\nvar dist = flow.get('dist')\n//var posiciones = flow.get();\n\nif(subida === true)\n{\n pos = pos +5;\n if(pos >= 75)\n {\n flow.set('subida',false);\n pos = 75;\n }\n}\nelse\n{\n pos = pos -5;\n if(pos <= 20)\n {\n flow.set('subida',true);\n pos = 20;\n }\n}\n\n\nvar msg2 = {payload: pos}\n\nmsg = {topic: pos.toString()};\nmsg = {payload: dist};\nglobal.set('posRadar',pos);\nflow.set('posAtr',pos + 75);\n\n\nreturn [msg,msg2];",
"outputs": 2,
"noerr": 0,
"x": 480,
"y": 380,
"wires": [
[],
[
"45938d63.ca6944",
"bb65e17a.9b4e7"
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]
},
{
"id": "e5dc70e7.7f0fd",
"type": "switch",
"z": "6e643c60.b53764",
"name": "radar?",
"property": "radar",
"propertyType": "global",
"rules": [
{
"t": "true"
}
],
"checkall": "true",
"repair": false,
"outputs": 1,
"x": 310,
"y": 380,
"wires": [
[
"288cb4a8.31155c"
]
]
},
{
"id": "1c94bfa4.6ba62",
"type": "change",
"z": "6e643c60.b53764",
"name": "",
"rules": [
{
"t": "set",
"p": "dist",
"pt": "flow",
"to": "payload",
"tot": "msg"
}
],
"action": "",
"property": "",
"from": "",
"to": "",
"reg": false,
"x": 470,
"y": 200,
"wires": [
[
"a9e3f6a1.aca688"
]
]
},
{
"id": "a9e3f6a1.aca688",
"type": "change",
"z": "6e643c60.b53764",
"name": "",
"rules": [
{
"t": "set",
"p": "topic",
"pt": "msg",
"to": "posRadar",
"tot": "global"
}
],
"action": "",
"property": "",
"from": "",
"to": "",
"reg": false,
"x": 630,
"y": 200,
"wires": [
[
"b6b6b4e8.533a18",
"ae53b0a9.a103f",
"484c4e44.859f3"
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]
},
{
"id": "692fd1b9.48548",
"type": "smooth",
"z": "6e643c60.b53764",
"name": "",
"property": "payload",
"action": "mean",
"count": "3",
"round": "0",
"mult": "single",
"reduce": true,
"x": 260,
"y": 200,
"wires": [
[
"1c94bfa4.6ba62",
"9457a1e2.c169a"
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]
},
{
"id": "6ec5a35c.a502cc",
"type": "inject",
"z": "c7c81a64.db1438",
"name": "",
"repeat": "",
"crontab": "",
"once": false,
"onceDelay": 0.1,
"topic": "",
"payload": "sudo reboot",
"payloadType": "str",
"x": 130,
"y": 120,
"wires": [
[
"fb4be1f9.47d6"
]
]
},
{
"id": "fb4be1f9.47d6",
"type": "exec",
"z": "c7c81a64.db1438",
"command": "sudo reboot now",
"addpay": false,
"append": "",
"useSpawn": "false",
"timer": "",
"oldrc": false,
"name": "",
"x": 450,
"y": 120,
"wires": [
[],
[],
[]
]
},
{
"id": "51e4d789.83dac8",
"type": "inject",
"z": "c7c81a64.db1438",
"name": "",
"repeat": "",
"crontab": "",
"once": false,
"onceDelay": 0.1,
"topic": "",
"payload": "sudo halt",
"payloadType": "str",
"x": 120,
"y": 200,
"wires": [
[
"9356fa74.5fdb88"
]
]
},
{
"id": "b6b6b4e8.533a18",
"type": "function",
"z": "6e643c60.b53764",
"name": "direccion-automatica",
"func": "var pos = msg.topic;\nvar dist = msg.payload;\nvar posiciones = global.get('posiciones')|| Array(10);\nvar max;\nvar sector;\nvar distMin = global.get('distMin')||100; // Distancia minima\nvar distProm = global.get('distProm')||distMin;\n\npos = (pos/5)-4;\n \nposiciones[pos] = dist;\n\nmax = Math.max.apply(null,posiciones);\nsector = posiciones.indexOf(max);\n\nif((max < distMin) || (distProm < distMin))\n{\n global.set('reversa',true);\n}\nelse\n{\n global.set('reversa',false); \n}\n\nglobal.set('posiciones',posiciones);\nglobal.set('max',max);\nglobal.set('sector',sector);\n\nmsg = {payload:sector};\nvar msg2 = {payload:max};\n\nreturn [msg,msg2];",
"outputs": 2,
"noerr": 0,
"x": 820,
"y": 160,
"wires": [
[
"64cee509.e27c3c"
],
[]
]
},
{
"id": "10cd3a6b.49ff16",
"type": "function",
"z": "f24f522c.5061",
"name": "motores",
"func": "var reversa = global.get('reversa');\nvar radar = global.get('radar');\nvar auto = global.get('auto');\nvar motDA, motDB, motIA, motIB;\nvar velMax = global.get('velMax')||100;\nvar pwmD = velMax;\nvar pwmI = velMax;\nvar sector = global.get('sector')||5;\nvar motores = global.get('motores')||false;\n\n\n\nif(reversa === true)\n{\n if((sector < 4)) // Esta libre la izquierda\n {\n pwmI = velMax;\n pwmD = velMax - (Math.abs((sector - 4)*10));\n }\n else if(sector > 5) // esta libre la derecha\n {\n pwmI = velMax - (Math.abs((5 - sector)*10));\n pwmD = velMax;\n }\n else\n {\n pwmI= velMax;\n pwmD = velMax;\n }\n}\nelse\n{\n if((sector < 4)) // Esta libre la izquierda\n {\n pwmI = velMax - (Math.abs((sector - 4)*10));\n pwmD = velMax;\n }\n else if(sector > 5) // esta libre la derecha\n {\n pwmI = velMax;\n pwmD = velMax - (Math.abs((5 - sector)*10));\n }\n else\n {\n pwmI= velMax;\n pwmD = velMax;\n } \n}\n\nif((reversa === true) && ((auto === true) || motores === true)) // No hay reversa\n{\n motDA = {payload:0};\n motDB = {payload:pwmD};\n motIA = {payload:0};\n motIB = {payload:pwmI};\n}\nelse if((reversa === false) && ((auto === true) || (motores === true)))\n{\n motDA = {payload:pwmD};\n motDB = {payload:0};\n motIA = {payload:pwmI};\n motIB = {payload:0};\n}\nelse\n{\n motDA = {payload:0};\n motDB = {payload:0};\n motIA = {payload:0};\n motIB = {payload:0};\n}\n\nreturn [motIA,motIB,motDA,motDB];",
"outputs": 4,
"noerr": 0,
"initialize": "",
"finalize": "",
"x": 280,
"y": 460,
"wires": [
[
"215c12fb.7a975e"
],
[
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],
[
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],
[
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]
]
},
{
"id": "8db34a58.037c88",
"type": "link in",
"z": "f24f522c.5061",
"name": "motores-radar",
"links": [
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"d10ead93.65bb1",
"29e623d1.4757fc",
"796ec44a.ba074c",
"f37ac82d.0122b8"
],
"x": 155,
"y": 460,
"wires": [
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]
]
},
{
"id": "bfc90e45.ae98b",
"type": "ui_slider",
"z": "d47f9ae6.2bf798",
"name": "",
"label": "Velocidad Máxima",
"tooltip": "",
"group": "e8574371.228a7",
"order": 1,
"width": 0,
"height": 0,
"passthru": false,
"outs": "end",
"topic": "",
"min": "35",
"max": "100",
"step": 1,
"x": 270,
"y": 100,
"wires": [
[
"d6281bc8.ce6578"
]
]
},
{
"id": "d6281bc8.ce6578",
"type": "change",
"z": "d47f9ae6.2bf798",
"name": "",
"rules": [
{
"t": "set",
"p": "velMax",
"pt": "global",
"to": "payload",
"tot": "msg"
}
],
"action": "",
"property": "",
"from": "",
"to": "",
"reg": false,
"x": 490,
"y": 100,
"wires": [
[]
]
},
{
"id": "2c6f0431.92709c",
"type": "smooth",
"z": "6e643c60.b53764",
"name": "",
"property": "payload",
"action": "mean",
"count": "6",
"round": "0",
"mult": "single",
"reduce": true,
"x": 260,
"y": 240,
"wires": [
[]
]
},
{
"id": "9457a1e2.c169a",
"type": "change",
"z": "6e643c60.b53764",
"name": "",
"rules": [
{
"t": "set",
"p": "distProm",
"pt": "global",
"to": "payload",
"tot": "msg"
}
],
"action": "",
"property": "",
"from": "",
"to": "",
"reg": false,
"x": 490,
"y": 240,
"wires": [
[
"4e6d5772.618108"
]
]
},
{
"id": "7949855e.5454ac",
"type": "link out",
"z": "d47f9ae6.2bf798",
"name": "ui-agregar-wifi",
"links": [
"ae68b855.e51c28"
],
"x": 1055,
"y": 460,
"wires": []
},
{
"id": "ad14a7fc.241638",
"type": "link in",
"z": "d47f9ae6.2bf798",
"name": "ui-ssid",
"links": [
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],
"x": 775,
"y": 460,
"wires": [
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]
},