I have a gopigo attached with couple sensors (camera, GPS, air quality sensor). I am trying to put all 4 code together to have one program(control, camera(live video stream), GPS(location) and air quality sensor. I want all of the 4 codes to run at the same time so that I can control the GOPIGO, view the video which is my eyes, know my location and analyze the condition of the environment with air quality sensor.

Control code in python

from gopigo import * #Has the basic functions for controlling the GoPiGo Robot

import sys #Used for closing the running program

print ("This is a basic example for the GoPiGo Robot control")

print ("Press: \tw: Move GoPiGo Robot forward \ta: Turn GoPiGo Robot left \td: Turn GoPiGo Robot right \ts: Move GoPiGo Robot backward \tt: Increase speed \tg: Decrease speed \tx: Stop GoPiGo Robot \tz: Exit ")

while True:

print ("Enter the Command:")

a=raw_input() # Fetch the input from the terminal

if a=='w':

fwd() # Move forward

elif a=='a':

left() # Turn left

elif a=='d':

right() # Turn Right

elif a=='s':

bwd() # Move back

elif a=='x':

stop() # Stop

elif a=='t':

increase_speed() # Increase speed

elif a=='g':

decrease_speed() # Decrease speed

elif a=='z':

print ("Exiting") # Exit

sys.exit()

else:

print ("Wrong Command, Please Enter Again")

time.sleep(.1)

Camera video streaming code

# import the necessary packages

from picamera.array import PiRGBArray

from picamera import PiCamera

import time

import cv2

# initialize the camera and grab a reference to the raw camera capture

camera = PiCamera()

camera.resolution = (640, 480)

camera.framerate = 32

rawCapture = PiRGBArray(camera, size=(640, 480))

# allow the camera to warmup

time.sleep(0.1)

# capture frames from the camera

for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):

# grab the raw NumPy array representing the image, then initialize the timestamp

# and occupied/unoccupied text

image = frame.array

# show the frame

cv2.imshow("Frame", image)

key = cv2.waitKey(1) & 0xFF

# clear the stream in preparation for the next frame

rawCapture.truncate(0)

# if the `q` key was pressed, break from the loop

if key == ord("q"):

break

Air quality sensor code

import time import gopigo # Connect the Grove Air Quality Sensor to analog port A0 # SIG,NC,VCC,GND air_sensor = 1 gopigo.pinMode(air_sensor,"INPUT") while True: try: # Get sensor value sensor_value = gopigo.analogRead(air_sensor) if sensor_value > 500: print ("Danger-High Pollution Air Quality") elif sensor_value > 300: print ("Low pollution") else: print ("Air fresh safe to go in with caution") print ("sensor_value ="+ str(sensor_value)) time.sleep(.5) except IOError: print ("Error")

GPS sensor code

from gopigo import *

import serial, time

import smbus

import math

import RPi.GPIO as GPIO

import struct

import sys

import ir_receiver_check

if ir_receiver_check.check_ir():

print "Disable IR receiver before continuing"

exit()

ser = serial.Serial('/dev/ttyAMA0', 9600, timeout = 0) #Open the serial port at 9600 baud

ser.flush()

def readlineCR():

rv = ""

while True:

time.sleep(0.01) # This is the critical part. A small pause

# works really well here.

ch = ser.read()

rv += ch

if ch==' ' or ch=='':

return rv

while True:

#readlineCR()

x=readlineCR()

print x