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    public by emsity modified Jul 5, 2014  2057  2  6  2

    PHP to read the robot arm MySql and to run the arm Python Script

    Reads arm table and can pass the data to Python
    
    <?php
    // Create Connection
    $con=mysqli_connect("localhost","my_name","my_password","action");
    
    //Check connection
    if (mysqli_connect_errno()) {
      echo "failed to connect to mysql: " . mysqli_connect_error();
    }
    
    // escape variables for security
    $id = mysqli_real_escape_string($con, $_POST['id']);
    $duration = mysqli_real_escape_string($con, $_POST['duration']);
    $direction = mysqli_real_escape_string($con, $_POST['direction']);
    $status = mysqli_real_escape_string($con, $_POST['status']);
    
    $result = mysqli_query($con,"SELECT * FROM arm where status='0'");
    
    echo "<table border='1'>
    <tr>
    <th>_Id_</th>
    <th>Duration</th>
    <th>Direction</th>
    <th>Status</th>
    </tr>";
    
    while($row = mysqli_fetch_array($result))
    {
    echo "<tr>";
    echo "<td>" . $row['id'] . "</td>";
    echo "<td>" . $row['duration'] . "</td>";
    echo "<td>" . $row['direction'] . "</td>";
    echo "<td>" . $row['status'] . "</td>";
    echo "</tr>";
    }
    echo "</table>";
    
    mysqli_close($con);
    
    ?>
    
    <htlm>
    <form action="/cgi-bin/run_mymove.php" method="get">
    Run:<input type="hidden" name="run">
    <input type="submit">
    </form>
    </html>

    public by emsity modified Jul 5, 2014  1818  1  6  1

    PHP script to insert data into robot arm MySql

    Passes Direction and Duration to a MySql table (arm) for Python to read
    <?php
    // Create Connection
    $con=mysqli_connect("localhost","my_name","my_password","action");
    
    //Check connection
    if (mysqli_connect_errno()) {
      echo "failed to connect to mysql: " . mysqli_connect_error();
    }
    
    // escape variables for security
    $id = mysqli_real_escape_string($con, $_POST['id']);
    $duration = mysqli_real_escape_string($con, $_POST['duration']);
    $direction = mysqli_real_escape_string($con, $_POST['direction']);
    $status = mysqli_real_escape_string($con, $_POST['status']);
    
    $sql="INSERT INTO arm (id, duration, direction, status)
    VALUES ('$id', '$duration', '$direction', '$status')";
    
    if (!mysqli_query($con,$sql)) {
      die('Error: ' . mysqli_error($con));
    }
    
    mysqli_close($con);	
    
    /* Redirect browser */
    $gohere = "http://192.168.169.15/myarm.html";
    header("Location: $gohere");
    /* Make sure that code below does not get executed when we redirect. */
    exit;
    
    ?>

    public by emsity modified Jul 5, 2014  2940  3  6  0

    Python script to drive robot arm using MySql Database

    Reads MySql database (db=action, table=arm) to drive arm using pre-determined codes.
    # import the USB and Time libraries into Python 
    import usb.core, usb.util, time, MySQLdb
    
    #Obtain sys from PHP 
    #import sys
    
    #Open connection to the action database (action/ arm table)
    db = MySQLdb.connect("localhost", "your_name", "your_password", "action")
    db.autocommit(True)
    cursor = db.cursor()
    
    
    #Allocate the name 'RoboArm' to the USB device
    RoboArm=usb.core.find(idVendor=0x1267,idProduct=0x0000)
    
    #Check if the arm is detected and warn if not found
    if RoboArm is None:
    	raise ValueError("Arm not found")
    
    
    #Define a procedure to execute each movement
    def MoveArm(Duration,ArmCmd):
    	#Start the movement
    	RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,1000)
    	#Stop the movement after waiting specified duration
    	time.sleep(Duration)
    	ArmCmd=[0,0,0]
    	RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,1000)
    
    #get the data from arm table 
    cursor.execute ("SELECT * FROM arm where Status='0' ")
    print cursor.rowcount
    
    data = cursor.fetchall()
    for row in data:
         ID = row[0]
         Duration = row[1]
         Direction = row[2]
         Status = row[3]
         print ID, Duration, Direction, Status
         Code = Direction
         
    #Code is obtained from the 'Direction' field in the MySql arm table
    #Duration is obtained from the 'Duration' field in the arm table
    
         if Code==1:
    	ArmCmd=[2,0,0] 
    	print "grip open"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
    		
         elif Code==2:
    	ArmCmd=[1,0,0]
    	print "grip close"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
    
         elif Code==3:
    	ArmCmd=[0,0,1]
    	print "light on"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
     
    
         elif Code==4:
    	ArmCmd=[0,0,0]
    	print "light off"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
    
         elif Code==5:
    	ArmCmd=[0,1,0]
    	print "clockwise"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
         elif Code==6:
    	ArmCmd=[0,2,0]
    	print "anti clockwise"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
         elif Code==7:
    	ArmCmd=[128,0,0]
    	print "shoulder up"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
         elif Code==8:
    	ArmCmd=[64,0,0]
    	print "shoulder down"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
         elif Code==9:
    	ArmCmd=[16,0,0]
    	print "elbow up"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET Status='1' ")
            print ID, Duration, Direction, Status
    
    
         elif Code==10:
    	ArmCmd=[32,0,0]
    	print "elbow down"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET Status='1' ")
            print ID, Duration, Direction, Status
    
    
         elif Code==11:
    	ArmCmd=[4,0,0]
    	print "wrist up"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    
         elif Code==12:
    	ArmCmd=[8,0,0]
    	print "wrist down"
            MoveArm(Duration,ArmCmd)
            cursor.execute ("UPDATE arm SET status='1' ")
            print ID, Duration, Direction, Status
    	
    else:
     Duration=1	
     ArmCmd=[0,0,0]
     print "exit" # Exit   
     MoveArm(Duration,ArmCmd)
    
    exit
    
    
    

    public by emsity modified Jul 1, 2014  262634  2  6  0

    PHP script to call Python robot arm command

    HTML call PHP to execute python command
    <?php
    exec( " sudo python /home/pi/arm/baseanti.py &"  );
    
    /* Redirect browser */
    $gohere = "http://192.168.169.15/index3G.html";
    header("Location: $gohere");
    /* Make sure that code below does not get executed when we redirect. */
    exit;
    ?>
    

    public by emsity modified Jun 29, 2014  1786  1  5  0

    Python script takes data from the PHP script to drive the robot arm

    Uses 'import sys' to receive the arguments from the PHP of action code (what to do) and duration (how long for). www.emsity.com
    # import the USB and Time libraries into Python 
    import usb.core, usb.util, time
    
    #Obtain sys from PHP 
    import sys
    
    #Allocate the name 'RoboArm' to the USB device
    RoboArm=usb.core.find(idVendor=0x1267,idProduct=0x0000)
    
    #Check if the arm is detected and warn if not found
    if RoboArm is None:
    	raise ValueError("Arm not found")
    
    
    #Define a procedure to execute each movement
    def MoveArm(Duration,ArmCmd):
    	#Start the movement
    	RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,1000)
    	#Stop the movement after waiting specified duration
    	time.sleep(Duration)
    	ArmCmd=[0,0,0]
    	RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,1000)
    
    
    Code = 0
    
    #Create a variable for duration from PHP
    
    while Code < 9:
    
    #Create a variable for duration
    	xString = sys.argv[1]
    	Duration = int(xString)
    
    #Create a variable for command code
    	yString = sys.argv[2]
    	Code = int(yString)
    
    #Move arm anti if code is 1 
    
    	if Code==1:
    		ArmCmd=[2,0,0] 
    		print "grip open"
    		
    	elif Code==2:
    		ArmCmd=[1,0,0]
    		print "grip close"
    
    	elif Code==3:
    		ArmCmd=[0,0,1]
    		print "light on"
    
    	elif Code==4:
    		ArmCmd=[0,0,0]
    		print "light off"
    
    	elif Code==5:
    		ArmCmd=[0,1,0]
    		print "clockwise"
    
    	elif Code==6:
    		ArmCmd=[0,2,0]
    		print "anti clockwise"
    
    	elif Code==7:
    		ArmCmd=[128,0,0]
    		print "shoulder up"
    
    	elif Code==8:
    		ArmCmd=[64,0,0]
    		print "shoulder down"
    
    	elif Code==9:
    		ArmCmd=[16,0,0]
    		print "elbow up"
    
    	elif Code==10:
    		ArmCmd=[32,0,0]
    		print "elbow down"
    
    	elif Code==11:
    		ArmCmd=[4,0,0]
    		print "wrist up"
    
    	elif Code==12:
    		ArmCmd=[8,0,0]
    		print "wrist down"
    	else:
    		ArmCmd=[0,0,0]
    		print "exit" # Exit
    	
    
    	MoveArm(Duration,ArmCmd)
    	exit(3)
    
    #MoveArm(1,[0,1,0]) # Rotate Base Anti-clockwise
    #MoveArm(1,[0,2,0]) # Rotate Base Clockwise
    #MoveArm(1,[64,0,0]) # Shoulder Up
    #MoveArm(1,[128,0,0]) # Shoulder Down
    #MoveArm(1,[16,0,0]) # Elbow Up
    #MoveArm(1,[32,0,0]) # Elbow Down
    #MoveArm(1,[4,0,0]) #  Wrist Up
    #MoveArm(1,[8,0,0]) # Wrist Down
    #MoveArm(1,[2,0,0]) # Grip Open
    #MoveArm(1,[1,0,0]) # Grip Close
    #MoveArm(1,[0,0,1]) # Light On
    #MoveArm(1,[0,0,0]) # Light Off
    
    

    public by emsity modified Jun 29, 2014  2197  1  5  1

    PHP to pass 'Get' data from HTML form into Python

    Passes a code (action) and atime (duration) into Python
    <?php
    
    $id1= $_GET['duration'];
    $id2= $_GET['action'];
    
    echo "duration", $id1;
    echo "action", $id2;
    
    exec( "sudo python /home/pi/arm/command.py $id1 $id2" );
    
    /* Redirect browser */
    $gohere = "http://192.168.169.15/index3G.html";
    header("Location: $gohere");
    /* Make sure that code below does not get executed when we redirect. */
    exit;
    
    ?>
    
    

    public by emsity modified Jun 29, 2014  1635  4  5  0

    PHP script to start Motion on the RPi and return back to the original page.

    I use "sudo motion -n" to start the camera, and "sudo service motion stop" see www.emsity.com
    <?php
    exec( "sudo motion -n"  );
    $gohere = "http://192.168.169.15/index3G.html";
    header("Location: $gohere");
    exit;
    ?>
    

    public by emsity modified Jun 29, 2014  2845  2  5  0

    Motion Configuration file for Creative Live! Cam on RPi

    This config file works well with the Creative Labs Live Cam.
    # Rename this distribution example file to motion.conf
    #
    # This config file was generated by motion 3.2.12
    
    
    ############################################################
    # Daemon
    ############################################################
    
    # Start in daemon (background) mode and release terminal (default: off)
    daemon on
    
    # File to store the process ID, also called pid file. (default: not defined)
    process_id_file /var/run/motion/motion.pid 
    
    ############################################################
    # Basic Setup Mode
    ############################################################
    
    # Start in Setup-Mode, daemon disabled. (default: off)
    setup_mode off
    
    ###########################################################
    # Capture device options
    ############################################################
    
    # Videodevice to be used for capturing  (default /dev/video0)
    # for FreeBSD default is /dev/bktr0
    videodevice /dev/video0
    
    # v4l2_palette allows to choose preferable palette to be use by motion
    # to capture from those supported by your videodevice. (default: 8)
    # E.g. if your videodevice supports both V4L2_PIX_FMT_SBGGR8 and
    # V4L2_PIX_FMT_MJPEG then motion will by default use V4L2_PIX_FMT_MJPEG.
    # Setting v4l2_palette to 1 forces motion to use V4L2_PIX_FMT_SBGGR8
    # instead.
    #
    # Values :
    # V4L2_PIX_FMT_SN9C10X : 0  'S910'
    # V4L2_PIX_FMT_SBGGR8  : 1  'BA81'
    # V4L2_PIX_FMT_MJPEG   : 2  'MJPEG'
    # V4L2_PIX_FMT_JPEG    : 3  'JPEG'
    # V4L2_PIX_FMT_RGB24   : 4  'RGB3'
    # V4L2_PIX_FMT_UYVY    : 5  'UYVY'
    # V4L2_PIX_FMT_YUYV    : 6  'YUYV'
    # V4L2_PIX_FMT_YUV422P : 7  '422P'
    # V4L2_PIX_FMT_YUV420  : 8  'YU12'
    v4l2_palette 3
    
    # Tuner device to be used for capturing using tuner as source (default /dev/tuner0)
    # This is ONLY used for FreeBSD. Leave it commented out for Linux
    ; tunerdevice /dev/tuner0
    
    # The video input to be used (default: 8)
    # Should normally be set to 0 or 1 for video/TV cards, and 8 for USB cameras
    input -1
    
    # The video norm to use (only for video capture and TV tuner cards)
    # Values: 0 (PAL), 1 (NTSC), 2 (SECAM), 3 (PAL NC no colour). Default: 0 (PAL)
    norm 0
    
    # The frequency to set the tuner to (kHz) (only for TV tuner cards) (default: 0)
    frequency 0
    
    # Rotate image this number of degrees. The rotation affects all saved images as
    # well as mpeg movies. Valid values: 0 (default = no rotation), 90, 180 and 270.
    rotate 0
    
    # Image width (pixels). Valid range: Camera dependent, default: 352
    width 320
    
    # Image height (pixels). Valid range: Camera dependent, default: 288
    height 240
    
    # Maximum number of frames to be captured per second.
    # Valid range: 2-100. Default: 100 (almost no limit).
    framerate 50
    
    # Minimum time in seconds between capturing picture frames from the camera.
    # Default: 0 = disabled - the capture rate is given by the camera framerate.
    # This option is used when you want to capture images at a rate lower than 2 per second.
    minimum_frame_time 0
    
    # URL to use if you are using a network camera, size will be autodetected (incl http:// ftp:// or file:///)
    # Must be a URL that returns single jpeg pictures or a raw mjpeg stream. Default: Not defined
    ; netcam_url value
    
    # Username and password for network camera (only if required). Default: not defined
    # Syntax is user:password
    ; netcam_userpass value
    
    # The setting for keep-alive of network socket, should improve performance on compatible net cameras.
    # 1.0:         The historical implementation using HTTP/1.0, closing the socket after each http request.
    # keep_alive:  Use HTTP/1.0 requests with keep alive header to reuse the same connection.
    # 1.1:         Use HTTP/1.1 requests that support keep alive as default.
    # Default: 1.0
    ; netcam_http 1.0
    
    # URL to use for a netcam proxy server, if required, e.g. "http://myproxy".
    # If a port number other than 80 is needed, use "http://myproxy:1234".
    # Default: not defined
    ; netcam_proxy value 
    
    # Set less strict jpeg checks for network cameras with a poor/buggy firmware.
    # Default: off
    netcam_tolerant_check off
    
    # Let motion regulate the brightness of a video device (default: off).
    # The auto_brightness feature uses the brightness option as its target value.
    # If brightness is zero auto_brightness will adjust to average brightness value 128.
    # Only recommended for cameras without auto brightness
    auto_brightness off
    
    # Set the initial brightness of a video device.
    # If auto_brightness is enabled, this value defines the average brightness level
    # which Motion will try and adjust to.
    # Valid range 0-255, default 0 = disabled
    brightness 0
    
    # Set the contrast of a video device.
    # Valid range 0-255, default 0 = disabled
    contrast 0
    
    # Set the saturation of a video device.
    # Valid range 0-255, default 0 = disabled
    saturation 0
    
    # Set the hue of a video device (NTSC feature).
    # Valid range 0-255, default 0 = disabled
    hue 0
    
    
    ############################################################
    # Round Robin (multiple inputs on same video device name)
    ############################################################
    
    # Number of frames to capture in each roundrobin step (default: 1)
    roundrobin_frames 1
    
    # Number of frames to skip before each roundrobin step (default: 1)
    roundrobin_skip 1
    
    # Try to filter out noise generated by roundrobin (default: off)
    switchfilter off
    
    
    ############################################################
    # Motion Detection Settings:
    ############################################################
    
    # Threshold for number of changed pixels in an image that
    # triggers motion detection (default: 1500)
    threshold 1500
    
    # Automatically tune the threshold down if possible (default: off)
    threshold_tune off
    
    # Noise threshold for the motion detection (default: 32)
    noise_level 32
    
    # Automatically tune the noise threshold (default: on)
    noise_tune on
    
    # Despeckle motion image using (e)rode or (d)ilate or (l)abel (Default: not defined)
    # Recommended value is EedDl. Any combination (and number of) of E, e, d, and D is valid.
    # (l)abeling must only be used once and the 'l' must be the last letter.
    # Comment out to disable
    despeckle EedDl
    
    # Detect motion in predefined areas (1 - 9). Areas are numbered like that:  1 2 3
    # A script (on_area_detected) is started immediately when motion is         4 5 6
    # detected in one of the given areas, but only once during an event.        7 8 9
    # One or more areas can be specified with this option. (Default: not defined)
    ; area_detect value
    
    # PGM file to use as a sensitivity mask.
    # Full path name to. (Default: not defined)
    ; mask_file value
    
    # Dynamically create a mask file during operation (default: 0)
    # Adjust speed of mask changes from 0 (off) to 10 (fast)
    smart_mask_speed 0
    
    # Ignore sudden massive light intensity changes given as a percentage of the picture
    # area that changed intensity. Valid range: 0 - 100 , default: 0 = disabled
    lightswitch 0
    
    # Picture frames must contain motion at least the specified number of frames
    # in a row before they are detected as true motion. At the default of 1, all
    # motion is detected. Valid range: 1 to thousands, recommended 1-5
    minimum_motion_frames 1
    
    # Specifies the number of pre-captured (buffered) pictures from before motion
    # was detected that will be output at motion detection.
    # Recommended range: 0 to 5 (default: 0)
    # Do not use large values! Large values will cause Motion to skip video frames and
    # cause unsmooth mpegs. To smooth mpegs use larger values of post_capture instead.
    pre_capture 0
    
    # Number of frames to capture after motion is no longer detected (default: 0)
    post_capture 0
    
    # Gap is the seconds of no motion detection that triggers the end of an event
    # An event is defined as a series of motion images taken within a short timeframe.
    # Recommended value is 60 seconds (Default). The value 0 is allowed and disables
    # events causing all Motion to be written to one single mpeg file and no pre_capture.
    gap 60
    
    # Maximum length in seconds of an mpeg movie
    # When value is exceeded a new mpeg file is created. (Default: 0 = infinite)
    max_mpeg_time 0
    
    # Always save images even if there was no motion (default: off)
    output_all off
    
    
    ############################################################
    # Image File Output
    ############################################################
    
    # Output 'normal' pictures when motion is detected (default: on)
    # Valid values: on, off, first, best, center
    # When set to 'first', only the first picture of an event is saved.
    # Picture with most motion of an event is saved when set to 'best'.
    # Picture with motion nearest center of picture is saved when set to 'center'.
    # Can be used as preview shot for the corresponding movie.
    output_normal on
    
    # Output pictures with only the pixels moving object (ghost images) (default: off)
    output_motion off
    
    # The quality (in percent) to be used by the jpeg compression (default: 75)
    quality 100
    
    # Output ppm images instead of jpeg (default: off)
    ppm off
    
    
    ############################################################
    # FFMPEG related options
    # Film (mpeg) file output, and deinterlacing of the video input
    # The options movie_filename and timelapse_filename are also used
    # by the ffmpeg feature
    ############################################################
    
    # Use ffmpeg to encode mpeg movies in realtime (default: off)
    ffmpeg_cap_new off
    
    # Use ffmpeg to make movies with only the pixels moving
    # object (ghost images) (default: off)
    ffmpeg_cap_motion off
    
    # Use ffmpeg to encode a timelapse movie 
    # Default value 0 = off - else save frame every Nth second
    ffmpeg_timelapse 10
    
    # The file rollover mode of the timelapse video
    # Valid values: hourly, daily (default), weekly-sunday, weekly-monday, monthly, manual
    ffmpeg_timelapse_mode daily
    
    # Bitrate to be used by the ffmpeg encoder (default: 400000)
    # This option is ignored if ffmpeg_variable_bitrate is not 0 (disabled)
    ffmpeg_bps 400000
    
    # Enables and defines variable bitrate for the ffmpeg encoder.
    # ffmpeg_bps is ignored if variable bitrate is enabled.
    # Valid values: 0 (default) = fixed bitrate defined by ffmpeg_bps,
    # or the range 2 - 31 where 2 means best quality and 31 is worst.
    ffmpeg_variable_bitrate 0
    
    # Codec to used by ffmpeg for the video compression.
    # Timelapse mpegs are always made in mpeg1 format independent from this option.
    # Supported formats are: mpeg1 (ffmpeg-0.4.8 only), mpeg4 (default), and msmpeg4.
    # mpeg1 - gives you files with extension .mpg
    # mpeg4 or msmpeg4 - gives you files with extension .avi
    # msmpeg4 is recommended for use with Windows Media Player because
    # it requires no installation of codec on the Windows client.
    # swf - gives you a flash film with extension .swf
    # flv - gives you a flash video with extension .flv
    # ffv1 - FF video codec 1 for Lossless Encoding ( experimental )
    # mov - QuickTime ( testing )
    ffmpeg_video_codec mpeg4
    
    # Use ffmpeg to deinterlace video. Necessary if you use an analog camera
    # and see horizontal combing on moving objects in video or pictures.
    # (default: off)
    ffmpeg_deinterlace off
    
    
    ############################################################
    # Snapshots (Traditional Periodic Webcam File Output)
    ############################################################
    
    # Make automated snapshot every N seconds (default: 0 = disabled)
    snapshot_interval 0
    
    
    ############################################################
    # Text Display
    # %Y = year, %m = month, %d = date,
    # %H = hour, %M = minute, %S = second, %T = HH:MM:SS,
    # %v = event, %q = frame number, %t = thread (camera) number,
    # %D = changed pixels, %N = noise level, \n = new line,
    # %i and %J = width and height of motion area,
    # %K and %L = X and Y coordinates of motion center
    # %C = value defined by text_event - do not use with text_event!
    # You can put quotation marks around the text to allow
    # leading spaces
    ############################################################
    
    # Locate and draw a box around the moving object.
    # Valid values: on, off and preview (default: off)
    # Set to 'preview' will only draw a box in preview_shot pictures.
    locate off
    
    # Draws the timestamp using same options as C function strftime(3)
    # Default: %Y-%m-%d\n%T = date in ISO format and time in 24 hour clock
    # Text is placed in lower right corner
    text_right %Y-%m-%d\n%T-%q
    
    # Draw a user defined text on the images using same options as C function strftime(3)
    # Default: Not defined = no text
    # Text is placed in lower left corner
    ; text_left CAMERA %t
    
    # Draw the number of changed pixed on the images (default: off)
    # Will normally be set to off except when you setup and adjust the motion settings
    # Text is placed in upper right corner
    text_changes off
    
    # This option defines the value of the special event conversion specifier %C
    # You can use any conversion specifier in this option except %C. Date and time
    # values are from the timestamp of the first image in the current event.
    # Default: %Y%m%d%H%M%S
    # The idea is that %C can be used filenames and text_left/right for creating
    # a unique identifier for each event.
    text_event %Y%m%d%H%M%S
    
    # Draw characters at twice normal size on images. (default: off)
    text_double off
    
    
    ############################################################
    # Target Directories and filenames For Images And Films
    # For the options snapshot_, jpeg_, mpeg_ and timelapse_filename
    # you can use conversion specifiers
    # %Y = year, %m = month, %d = date,
    # %H = hour, %M = minute, %S = second,
    # %v = event, %q = frame number, %t = thread (camera) number,
    # %D = changed pixels, %N = noise level,
    # %i and %J = width and height of motion area,
    # %K and %L = X and Y coordinates of motion center
    # %C = value defined by text_event
    # Quotation marks round string are allowed.
    ############################################################
    
    # Target base directory for pictures and films
    # Recommended to use absolute path. (Default: current working directory)
    target_dir /home/pi/webcam
    
    # File path for snapshots (jpeg or ppm) relative to target_dir
    # Default: %v-%Y%m%d%H%M%S-snapshot
    # Default value is equivalent to legacy oldlayout option
    # For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-snapshot
    # File extension .jpg or .ppm is automatically added so do not include this.
    # Note: A symbolic link called lastsnap.jpg created in the target_dir will always
    # point to the latest snapshot, unless snapshot_filename is exactly 'lastsnap'
    snapshot_filename %v-%Y%m%d%H%M%S-snapshot
    
    # File path for motion triggered images (jpeg or ppm) relative to target_dir
    # Default: %v-%Y%m%d%H%M%S-%q
    # Default value is equivalent to legacy oldlayout option
    # For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-%q
    # File extension .jpg or .ppm is automatically added so do not include this
    # Set to 'preview' together with best-preview feature enables special naming
    # convention for preview shots. See motion guide for details
    jpeg_filename %v-%Y%m%d%H%M%S-%q
    
    # File path for motion triggered ffmpeg films (mpeg) relative to target_dir
    # Default: %v-%Y%m%d%H%M%S
    # Default value is equivalent to legacy oldlayout option
    # For Motion 3.0 compatible mode choose: %Y/%m/%d/%H%M%S
    # File extension .mpg or .avi is automatically added so do not include this
    # This option was previously called ffmpeg_filename
    movie_filename %v-%Y%m%d%H%M%S
    
    # File path for timelapse mpegs relative to target_dir
    # Default: %Y%m%d-timelapse
    # Default value is near equivalent to legacy oldlayout option
    # For Motion 3.0 compatible mode choose: %Y/%m/%d-timelapse
    # File extension .mpg is automatically added so do not include this
    timelapse_filename %Y%m%d-timelapse
    
    
    ############################################################
    # Live Webcam Server
    ############################################################
    
    # The mini-http server listens to this port for requests (default: 0 = disabled)
    webcam_port 8080
    
    # Quality of the jpeg (in percent) images produced (default: 50) 
    webcam_quality 25
    
    # Output frames at 1 fps when no motion is detected and increase to the
    # rate given by webcam_maxrate when motion is detected (default: off)
    webcam_motion on
    
    # Maximum framerate for webcam streams (default: 1)
    webcam_maxrate 1
    
    # Restrict webcam connections to localhost only (default: on)
    webcam_localhost off
    
    # Limits the number of images per connection (default: 0 = unlimited)
    # Number can be defined by multiplying actual webcam rate by desired number of seconds
    # Actual webcam rate is the smallest of the numbers framerate and webcam_maxrate
    webcam_limit 0
    
    
    ############################################################
    # HTTP Based Control
    ############################################################
    
    # TCP/IP port for the http server to listen on (default: 0 = disabled)
    control_port 8081
    
    # Restrict control connections to localhost only (default: on)
    control_localhost on
    
    # Output for http server, select off to choose raw text plain (default: on)
    control_html_output on
    
    # Authentication for the http based control. Syntax username:password
    # Default: not defined (Disabled)
    # control_authentication username:password
    
    
    ############################################################
    # Tracking (Pan/Tilt)
    ############################################################
    
    # Type of tracker (0=none (default), 1=stepper, 2=iomojo, 3=pwc, 4=generic, 5=uvcvideo)
    # The generic type enables the definition of motion center and motion size to
    # be used with the conversion specifiers for options like on_motion_detected
    track_type 0
    
    # Enable auto tracking (default: off)
    track_auto off
    
    # Serial port of motor (default: none)
    ; track_port value
    
    # Motor number for x-axis (default: 0)
    track_motorx 0
    
    # Motor number for y-axis (default: 0)
    track_motory 0
    
    # Maximum value on x-axis (default: 0)
    track_maxx 0
    
    # Maximum value on y-axis (default: 0)
    track_maxy 0
    
    # ID of an iomojo camera if used (default: 0)
    track_iomojo_id 0
    
    # Angle in degrees the camera moves per step on the X-axis
    # with auto-track (default: 10)
    # Currently only used with pwc type cameras
    track_step_angle_x 10
    
    # Angle in degrees the camera moves per step on the Y-axis
    # with auto-track (default: 10)
    # Currently only used with pwc type cameras
    track_step_angle_y 10
    
    # Delay to wait for after tracking movement as number
    # of picture frames (default: 10)
    track_move_wait 10
    
    # Speed to set the motor to (stepper motor option) (default: 255)
    track_speed 255
    
    # Number of steps to make (stepper motor option) (default: 40)
    track_stepsize 40
    
    
    ############################################################
    # External Commands, Warnings and Logging:
    # You can use conversion specifiers for the on_xxxx commands
    # %Y = year, %m = month, %d = date,
    # %H = hour, %M = minute, %S = second,
    # %v = event, %q = frame number, %t = thread (camera) number,
    # %D = changed pixels, %N = noise level,
    # %i and %J = width and height of motion area,
    # %K and %L = X and Y coordinates of motion center
    # %C = value defined by text_event
    # %f = filename with full path
    # %n = number indicating filetype
    # Both %f and %n are only defined for on_picture_save,
    # on_movie_start and on_movie_end
    # Quotation marks round string are allowed.
    ############################################################
    
    # Do not sound beeps when detecting motion (default: on)
    # Note: Motion never beeps when running in daemon mode.
    quiet on
    
    # Command to be executed when an event starts. (default: none)
    # An event starts at first motion detected after a period of no motion defined by gap 
    ; on_event_start value
    
    # Command to be executed when an event ends after a period of no motion
    # (default: none). The period of no motion is defined by option gap.
    ; on_event_end value
    
    # Command to be executed when a picture (.ppm|.jpg) is saved (default: none)
    # To give the filename as an argument to a command append it with %f
    ; on_picture_save value
    
    # Command to be executed when a motion frame is detected (default: none)
    ; on_motion_detected value
    
    # Command to be executed when motion in a predefined area is detected
    # Check option 'area_detect'.   (default: none)
    ; on_area_detected value
    
    # Command to be executed when a movie file (.mpg|.avi) is created. (default: none)
    # To give the filename as an argument to a command append it with %f
    ; on_movie_start value
    
    # Command to be executed when a movie file (.mpg|.avi) is closed. (default: none)
    # To give the filename as an argument to a command append it with %f
    ; on_movie_end value
    
    # Command to be executed when a camera can't be opened or if it is lost
    # NOTE: There is situations when motion doesn't detect a lost camera!
    # It depends on the driver, some drivers don't detect a lost camera at all
    # Some hang the motion thread. Some even hang the PC! (default: none)
    ; on_camera_lost value
    
    ############################################################
    # Common Options For MySQL and PostgreSQL database features.
    # Options require the MySQL/PostgreSQL options to be active also.
    ############################################################
    
    # Log to the database when creating motion triggered image file  (default: on)
    sql_log_image on
    
    # Log to the database when creating a snapshot image file (default: on)
    sql_log_snapshot on
    
    # Log to the database when creating motion triggered mpeg file (default: off)
    sql_log_mpeg off
    
    # Log to the database when creating timelapse mpeg file (default: off)
    sql_log_timelapse off
    
    # SQL query string that is sent to the database
    # Use same conversion specifiers has for text features
    # Additional special conversion specifiers are
    # %n = the number representing the file_type
    # %f = filename with full path
    # Default value:
    # insert into security(camera, filename, frame, file_type, time_stamp, text_event) values('%t', '%f', '%q', '%n', '%Y-%m-%d %T', '%C')
    sql_query insert into security(camera, filename, frame, file_type, time_stamp, event_time_stamp) values('%t', '%f', '%q', '%n', '%Y-%m-%d %T', '%C')
    
    
    ############################################################
    # Database Options For MySQL
    ############################################################
    
    # Mysql database to log to (default: not defined)
    ; mysql_db value
    
    # The host on which the database is located (default: localhost)
    ; mysql_host value
    
    # User account name for MySQL database (default: not defined)
    ; mysql_user value
    
    # User password for MySQL database (default: not defined)
    ; mysql_password value
    
    
    ############################################################
    # Database Options For PostgreSQL
    ############################################################
    
    # PostgreSQL database to log to (default: not defined)
    ; pgsql_db value
    
    # The host on which the database is located (default: localhost)
    ; pgsql_host value
    
    # User account name for PostgreSQL database (default: not defined)
    ; pgsql_user value
    
    # User password for PostgreSQL database (default: not defined)
    ; pgsql_password value
    
    # Port on which the PostgreSQL database is located (default: 5432)
    ; pgsql_port 5432
    
    
    ############################################################
    # Video Loopback Device (vloopback project)
    ############################################################
    
    # Output images to a video4linux loopback device
    # The value '-' means next available (default: not defined)
    ; video_pipe value
    
    # Output motion images to a video4linux loopback device
    # The value '-' means next available (default: not defined)
    ; motion_video_pipe value
    
    
    ##############################################################
    # Thread config files - One for each camera.
    # Except if only one camera - You only need this config file.
    # If you have more than one camera you MUST define one thread
    # config file for each camera in addition to this config file.
    ##############################################################
    
    # Remember: If you have more than one camera you must have one
    # thread file for each camera. E.g. 2 cameras requires 3 files:
    # This motion.conf file AND thread1.conf and thread2.conf.
    # Only put the options that are unique to each camera in the
    # thread config files. 
    ; thread /usr/local/etc/thread1.conf
    ; thread /usr/local/etc/thread2.conf
    ; thread /usr/local/etc/thread3.conf
    ; thread /usr/local/etc/thread4.conf
    
    

    public by emsity modified Jun 29, 2014  1924  6  5  1

    RPi Apache2 setup instruction www.emsity.com

    Different code for Apache 2 setup
    sudo a2enmod rewrite
    sudo nano /etc/apache2/sites-enabled/000-default
    
    <Directory /var/www/>
        Options Indexes FollowSymLinks MultiViews
        AllowOverride All
        Order allow,deny
        allow from all
    </Directory>
    
    sudo visudo
    
    www-data ALL=(ALL) NOPASSWD: ALL
    
    sudo /etc/init.d/apache2 restart
    
    

    public by emsity modified Jun 29, 2014  1381  11  6  0

    Simple Robot Arm code in Python

    The basic arm commands for Raspberry Pi and Maplins arm (www.emsity.com)
    # import the USB and Time libraries into Python 
    import usb.core, usb.util, time
    
    #Allocate the name 'RoboArm' to the USB device
    RoboArm=usb.core.find(idVendor=0x1267,idProduct=0x0000)
    
    #Check if the arm is detected and warn if not found
    if RoboArm is None:
    	raise ValueError("Arm not found")
    
    #Define a procedure to execute each movement
    def MoveArm(Duration, ArmCmd):
    	#Start the movement
    	RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,1000)
    	#Stop the movement after waiting specified duration
    	time.sleep(Duration)
    	ArmCmd=[0,0,0]
    	RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,1000)
    
    #Give the arm some commands
    
    MoveArm(1,[0,2,0]) # Rotate Base Anti-Clockwise
    
    #MoveArm(1,[0,1,0]) # Rotate Base Clockwise
    #MoveArm(1,[0,2,0]) # Rotate Base Anti-Clockwise
    #MoveArm(1,[64,0,0]) # Shoulder Up
    #MoveArm(1,[128,0,0]) # Shoulder Down
    #MoveArm(1,[16,0,0]) # Elbow Up
    #MoveArm(1,[32,0,0]) # Elbow Down
    #MoveArm(1,[4,0,0]) #  Wrist Up
    #MoveArm(1,[8,0,0]) # Wrist Down
    #MoveArm(1,[2,0,0]) # Grip Open
    #MoveArm(1,[1,0,0]) # Grip Close
    #MoveArm(1,[0,0,1]) # Light On
    #MoveArm(1,[0,0,0]) # Light Off
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