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diff --git a/WebControl/js/script.js b/WebControl/js/script.js
new file mode 100644
index 0000000..f553723
--- /dev/null
+++ b/WebControl/js/script.js
@@ -0,0 +1,142 @@
+ $(function(){
+ var isTouchDevice = "ontouchstart" in document.documentElement ? true : false;
+ var BUTTON_DOWN = isTouchDevice ? "touchstart" : "mousedown";
+ var BUTTON_UP = isTouchDevice ? "touchend" : "mouseup";
+
+ $("input[type='checkbox']").change(function() {
+ var id = this.id;
+ if (this.checked) {
+ $.post("/cmd", id, function(data, status){});
+ } else {
+ $.post("/cmd", "stop", function(data, status){});
+ }
+ });
+
+ $('input[type="range"]').change(function() {
+ var speed = this.value;
+ $.post('/cmd', {speed: speed});
+ });
+ });
+ // Test
+ $(function() {
+ $('#servo').change(function() {
+ var isChecked = $(this).is(':checked');
+ var action = isChecked ? 'start' : 'stop';
+ $.post('/servo_motor', { action: action });
+ });
+ });
+ $(function() {
+ $('#motor').change(function() {
+ var isChecked = $(this).is(':checked');
+ var action = isChecked ? 'start' : 'stop';
+ $.post('/motor_speed_move', { action: action });
+ });
+ });
+ $(function() {
+ $('#obstacle').change(function() {
+ var isChecked = $(this).is(':checked');
+ var action = isChecked ? 'start' : 'stop';
+ $.post('/infrared_obstacle_module', { action: action });
+ });
+ });
+ $(function () {
+ $("#lidar").change(function () {
+ var isChecked = $(this).is(":checked");
+ var action = isChecked ? "start" : "stop";
+ $.post("/lidar_module", { action: action });
+ });
+ });
+ $(function () {
+ $("#rfidrw").change(function () {
+ var isChecked = $(this).is(":checked");
+ var action = isChecked ? "start" : "stop";
+ $.post("/rfid_read_write_module", { action: action });
+ });
+ });
+ // Fonctionnalité
+ $(function () {
+ $("#ITO").change(function () {
+ var isChecked = $(this).is(":checked");
+ var action = isChecked ? "start" : "stop";
+ $.post("/infrared_tracking_objects", { action: action });
+ });
+ });
+ $(function () {
+ $("#IOA").change(function () {
+ var isChecked = $(this).is(":checked");
+ var action = isChecked ? "start" : "stop";
+ $.post("/infrared_obstacle_avoidance", {
+ action: action,
+ });
+ });
+ });
+// Fonction pour mettre à jour l'angle de rotation de l'aiguille en fonction de la vitesse
+function updateRotation(speed) {
+ const minSpeed = 0; // Vitesse minimale en km/h
+ const maxSpeed = 120; // Vitesse maximale en km/h
+ const maxAngle = 138; // Angle maximal de l'aiguille (correspondant à la vitesse maximale)
+
+ // Limiter la vitesse minimale
+ speed = Math.max(minSpeed, speed);
+ // Limiter la vitesse maximale
+ speed = Math.min(maxSpeed, speed);
+
+ // Calcul de l'angle en fonction de la vitesse
+ const angle = (speed / maxSpeed) * maxAngle;
+
+ // Mise à jour de l'aiguille avec le nouvel angle
+ updatePointerRotation(angle);
+}
+
+// Fonction pour mettre à jour l'aiguille avec un nouvel angle
+function updatePointerRotation(angle) {
+ const minAngle = -130; // Angle minimal de l'aiguille
+ const maxAngle = 138; // Angle maximal de l'aiguille
+
+ // Limiter l'angle minimum
+ angle = Math.max(minAngle, angle);
+ // Limiter l'angle maximum
+ angle = Math.min(maxAngle, angle);
+
+ // Calculer la rotation en fonction de l'angle et de la direction
+ let rotation = (angle + 112) * 1.923; // Convertir l'angle en rotation (360/242)
+
+ // Mise à jour de l'aiguille
+ const pointer = document.getElementById("pointer");
+ pointer.style.transform = `translateX(-50%) rotate(${rotation}deg)`;
+}
+
+// Fonction pour mettre à jour le compteur avec la nouvelle valeur de vitesse
+function updateCounter(speed) {
+ const counter = document.getElementById("counter");
+ // Ajouter des zéros devant la vitesse si elle est inférieure à 100
+ const formattedSpeed = ("000" + speed).slice(-3);
+ counter.textContent = formattedSpeed;
+}
+
+$(function () {
+ var isTouchDevice = "ontouchstart" in document.documentElement ? true : false;
+ var BUTTON_DOWN = isTouchDevice ? "touchstart" : "mousedown";
+ var BUTTON_UP = isTouchDevice ? "touchend" : "mouseup";
+
+ $("button").bind(BUTTON_DOWN, function () {
+ $(this).addClass("btn-pressed");
+ $.post("/cmd", this.id, function (data, status) {});
+ });
+
+ $("button").bind(BUTTON_UP, function () {
+ $(this).removeClass("btn-pressed");
+ $.post("/cmd", "stop", function (data, status) {});
+ });
+
+ $("input").change(function () {
+ var speed = this.value;
+ $("#speed-display").text(speed); // Met à jour l'élément HTML avec l'id 'speed-display' avec la nouvelle valeur
+ updateRotation(speed); // Met à jour l'aiguille avec la nouvelle vitesse
+ updateCounter(speed); // Met à jour le compteur avec la nouvelle vitesse
+ $.post("/cmd", { speed: speed }); // Envoie la nouvelle valeur de vitesse au serveur
+ });
+
+ // Positionner l'aiguille à la valeur 50 lors de l'initialisation
+ updateRotation(50);
+});
diff --git a/WebControl/logs/log.txt b/WebControl/logs/log.txt
new file mode 100644
index 0000000..1c315b1
--- /dev/null
+++ b/WebControl/logs/log.txt
@@ -0,0 +1,20 @@
+Bottle v0.12.25 server starting up (using WSGIRefServer(ssl_context=))...
+Listening on http://192.168.74.194:8000/
+Hit Ctrl-C to quit.
+
+192.168.74.237 - - [15/May/2024 11:01:16] "GET / HTTP/1.1" 200 4592
+192.168.74.237 - - [15/May/2024 11:01:21] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:21] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:22] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:22] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:34] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:35] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:35] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:35] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:41] "POST /motor_speed_move HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:41] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:41] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:45] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:45] "POST /motor_speed_move HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:45] "POST /cmd HTTP/1.1" 200 2
+192.168.74.237 - - [15/May/2024 11:01:54] "GET /css/bootstrap.min.css.map HTTP/1.1" 404 746
diff --git a/WebControl/main.py b/WebControl/main.py
new file mode 100644
index 0000000..b2ff45e
--- /dev/null
+++ b/WebControl/main.py
@@ -0,0 +1,167 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+from bottle import get,post,run,route,request,template,static_file,TEMPLATE_PATH
+from joyit_mfrc522 import SimpleMFRC522
+from modules.AlphaBot import AlphaBot
+import threading, socket, os, sys, time, subprocess, ssl
+
+
+TEMPLATE_PATH.append('/home/christian/WebControl/')
+car = AlphaBot()
+script_process = None
+speed = 50 # Valeur de vitesse par défaut
+
+@get("/")
+def index():
+ return template('templates/index')
+@get("/tests")
+def tests():
+ return template("templates/tests")
+
+# Test programmes
+@post('/servo_motor')
+def servo_motor():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['python3', 'tests/servo_motor.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+@post('/motor_speed_move')
+def motor_speed_move():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['python3', 'tests/motor_speed_move.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+@post('/infrared_obstacle_module')
+def infrared_obstacle_module():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['python3', 'tests/infrared_obstacle_module.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+@post('/lidar_module')
+def lidar_module():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['sudo', 'python3', 'tests/lidar_module.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+@post('/rfid_read_write_module')
+def rfid_read_write_module():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['python3', 'tests/rfid_read_write_module.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+
+# Fonctionnalité programmes
+@post('/infrared_tracking_objects')
+def infrared_tracking_objects():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['python3', 'apps/infrared_tracking_objects.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+@post('/infrared_obstacle_avoidance')
+def infrared_obstacle_avoidance():
+ global script_process # Assurez-vous d'utiliser la variable globale script_process dans cette fonction
+ action = request.forms.get('action')
+ if action == 'start':
+ script_process = subprocess.Popen(['python3', 'apps/infrared_obstacle_avoidance.py'])
+ elif action == 'stop' and script_process is not None:
+ script_process.terminate() # Arrêter le script si script_process est défini
+ return 'OK'
+
+@post("/cmd")
+def cmd():
+ global speed # Déclarer speed comme variable globale pour pouvoir y accéder dans cette fonction
+ code = request.body.read().decode()
+ speed_str = request.POST.get('speed')
+ if speed_str is not None:
+ try:
+ speed = int(speed_str)
+ if 0 <= speed <= 100:
+ car.setPWMA(speed)
+ car.setPWMB(speed)
+ print("Vitesse définie à", speed)
+ except ValueError:
+ print("") # Invalid speed value
+
+ if code == "stop":
+ car.stop()
+ elif code == "forward":
+ car.forward(speed)
+ elif code == "backward":
+ car.backward(speed)
+ elif code == "turnleft":
+ car.left(speed)
+ elif code == "turnright":
+ car.right(speed)
+ else:
+ print("") # Unknown command
+ return "OK"
+
+@route('/')
+def server_static(filename):
+ return static_file(filename, root='./')
+@route('/templates/')
+def server_templates(filename):
+ return static_file(filename, root='./templates/')
+@route('/images/')
+def server_images(filename):
+ return static_file(filename, root='./images/')
+@route('/fonts/')
+def server_fonts(filename):
+ return static_file(filename, root='./fonts/')
+@route('/js/')
+def server_js(filename):
+ return static_file(filename, root='./js/')
+@route('/css/')
+def server_css(filename):
+ return static_file(filename, root='./css/')
+@route('/modules/')
+def server_modules(filename):
+ return static_file(filename, root='./modules/')
+@route('/apps/')
+def server_apps(filename):
+ return static_file(filename, root='./apps/')
+@route('/tests/')
+def server_tests(filename):
+ return static_file(filename, root='./tests/')
+
+# Chemins vers le certificat SSL et la clé privée
+certfile = '/home/christian/WebControl/ssl/cert.pem'
+keyfile = '/home/christian/WebControl/ssl/key.pem'
+
+# Créez un contexte SSL
+ssl_context = ssl.SSLContext(ssl.PROTOCOL_TLSv1_2)
+ssl_context.load_cert_chain(certfile=certfile, keyfile=keyfile)
+
+def wait_for_network():
+ while True:
+ try:
+ s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ s.connect(('8.8.8.8', 80))
+ localhost = s.getsockname()[0]
+ s.close()
+ return localhost
+ except OSError:
+ print("Le réseau est inaccessible. Réessai dans 5 secondes...")
+ time.sleep(5)
+
+localhost = wait_for_network()
+
+run(host=localhost, port=8000, server='wsgiref', debug=True, ssl_context=ssl_context)
diff --git a/WebControl/modules/AlphaBot.py b/WebControl/modules/AlphaBot.py
new file mode 100644
index 0000000..8c54932
--- /dev/null
+++ b/WebControl/modules/AlphaBot.py
@@ -0,0 +1,119 @@
+import RPi.GPIO as GPIO
+import time
+import os
+
+class AlphaBot(object):
+ def __init__(self, in1=12, in2=13, ena=6, in3=20, in4=21, enb=26):
+ self.IN1 = in1
+ self.IN2 = in2
+ self.IN3 = in3
+ self.IN4 = in4
+ self.ENA = ena
+ self.ENB = enb
+ # Définition des broches module d'évitement d'obstacles
+ DAOUT_PIN = 19
+ AOUT_PIN = 16
+
+ GPIO.setmode(GPIO.BCM)
+ GPIO.setwarnings(False)
+ GPIO.setup(self.IN1, GPIO.OUT)
+ GPIO.setup(self.IN2, GPIO.OUT)
+ GPIO.setup(self.IN3, GPIO.OUT)
+ GPIO.setup(self.IN4, GPIO.OUT)
+ GPIO.setup(self.ENA, GPIO.OUT)
+ GPIO.setup(self.ENB, GPIO.OUT)
+ self.PWMA = GPIO.PWM(self.ENA, 500) # Utilisation d'une fréquence de 500 Hz pour le PWM
+ self.PWMB = GPIO.PWM(self.ENB, 500)
+ self.PWMA.start(0) # Démarre avec un rapport cyclique de 0 (moteurs arrêtés)
+ self.PWMB.start(0)
+
+ def stop(self):
+ GPIO.output(self.IN1, GPIO.LOW)
+ GPIO.output(self.IN2, GPIO.LOW)
+ GPIO.output(self.IN3, GPIO.LOW)
+ GPIO.output(self.IN4, GPIO.LOW)
+ self.PWMA.ChangeDutyCycle(0)
+ self.PWMB.ChangeDutyCycle(0)
+ print("Le robot est arreté")
+
+ def forward(self, speed):
+ GPIO.output(self.IN1, GPIO.HIGH)
+ GPIO.output(self.IN2, GPIO.LOW)
+ GPIO.output(self.IN3, GPIO.HIGH)
+ GPIO.output(self.IN4, GPIO.LOW)
+ self.PWMA.ChangeDutyCycle(speed)
+ self.PWMB.ChangeDutyCycle(speed)
+
+ print("Le robot avance avec une vitesse de", speed)
+
+ def backward(self, speed):
+ GPIO.output(self.IN1, GPIO.LOW)
+ GPIO.output(self.IN2, GPIO.HIGH)
+ GPIO.output(self.IN3, GPIO.LOW)
+ GPIO.output(self.IN4, GPIO.HIGH)
+ self.PWMA.ChangeDutyCycle(speed)
+ self.PWMB.ChangeDutyCycle(speed)
+ print("Le robot recul avec une vitesse de", speed)
+
+ def left(self, speed):
+ GPIO.output(self.IN1, GPIO.HIGH)
+ GPIO.output(self.IN2, GPIO.LOW)
+ GPIO.output(self.IN3, GPIO.LOW)
+ GPIO.output(self.IN4, GPIO.LOW)
+ self.PWMA.ChangeDutyCycle(speed)
+ print("Le robot tourne à guauche avec une vitesse de", speed)
+
+ def right(self, speed):
+ GPIO.output(self.IN1, GPIO.LOW)
+ GPIO.output(self.IN2, GPIO.LOW)
+ GPIO.output(self.IN3, GPIO.HIGH)
+ GPIO.output(self.IN4, GPIO.LOW)
+ self.PWMB.ChangeDutyCycle(speed)
+ print("Le robot tourne à droite avec une vitesse de", speed)
+
+ def setPWMA(self, value):
+ """
+ Ajuste la vitesse du moteur A (gauche).
+ :param value: La valeur du rapport cyclique en pourcentage (0-100).
+ """
+ self.PWMA.ChangeDutyCycle(value)
+
+ def setPWMB(self, value):
+ """
+ Ajuste la vitesse du moteur B (droite).
+ :param value: La valeur du rapport cyclique en pourcentage (0-100).
+ """
+ self.PWMB.ChangeDutyCycle(value)
+
+ def setMotor(self, left, right):
+ """
+ Contrôle individuellement les vitesses des moteurs gauche et droit.
+ :param left: La vitesse du moteur gauche en pourcentage (0-100).
+ :param right: La vitesse du moteur droit en pourcentage (0-100).
+ """
+ self.PWMA.ChangeDutyCycle(left)
+ self.PWMB.ChangeDutyCycle(right)
+
+ def objetrack_ir(self):
+ os.system('sudo python3 ~/AppControl/Infrared_Tracking_Objects.py')
+
+ def linetrack_ir(self):
+ os.system('sudo python3 ~/AppControl/Infrared_Line_Tracking.py')
+
+ def objetavoid_ir(self):
+ os.system('sudo python3 ~/AppControl/Infrared_Obstacle_Avoidance.py')
+
+ def obstacleavoid_ultrason(self):
+ os.system('sudo python3 ~/AppControl/Ultrasonic_Obstacle_Avoidance.py')
+
+ def move_ultrason(self):
+ os.system('sudo python3 ~/AppControl/Ultrasonic_Ranging.py')
+
+ def control_ir(self):
+ os.system('sudo python3 ~/AppControl/Infrared_Remote_Control.py')
+
+ def face_ia(self):
+ os.system('sudo python3 ~/AppControl/visage_camera_raspberry.py')
+
+ def line_ia(self):
+ os.system('sudo python3 ~/AppControl/visage_camera_v2_raspberry.py')
\ No newline at end of file
diff --git a/WebControl/modules/__init__.py b/WebControl/modules/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/WebControl/package.txt b/WebControl/package.txt
new file mode 100644
index 0000000..dc3c6a8
--- /dev/null
+++ b/WebControl/package.txt
@@ -0,0 +1,154 @@
+appdirs==1.4.4
+arandr==0.1.10
+astroid==2.5.1
+asttokens==2.0.4
+automationhat==0.2.0
+backcall==0.2.0
+beautifulsoup4==4.9.3
+bidict==0.23.1
+blinker==1.4
+blinkt==0.1.2
+bottle==0.12.25
+buttonshim==0.0.2
+Cap1xxx==0.1.3
+certifi==2020.6.20
+chardet==4.0.0
+click==7.1.2
+colorama==0.4.4
+colorzero==1.1
+cryptography==3.3.2
+cupshelpers==1.0
+cycler==0.10.0
+dbus-python==1.2.16
+decorator==4.4.2
+distro==1.5.0
+dnspython==2.6.1
+docutils==0.16
+drumhat==0.1.0
+envirophat==1.0.0
+eventlet==0.36.1
+ExplorerHAT==0.4.2
+Flask==1.1.2
+Flask-SocketIO==5.3.6
+fourletterphat==0.1.0
+gpiozero==1.6.2
+greenlet==3.0.3
+guizero==1.1.1
+h11==0.14.0
+html5lib==1.1
+idna==2.10
+ipykernel==5.4.3
+ipython==7.20.0
+ipython_genutils==0.2.0
+isort==5.6.4
+itsdangerous==1.1.0
+jedi==0.18.0
+Jinja2==2.11.3
+joyit_mfrc522==0.1.0
+jupyter-client==6.1.11
+jupyter-core==4.7.1
+kiwisolver==1.3.1
+lazy-object-proxy==0.0.0
+logilab-common==1.8.1
+lxml==4.6.3
+MarkupSafe==1.1.1
+matplotlib==3.3.4
+mccabe==0.6.1
+mfrc522==0.0.7
+microdotphat==0.2.1
+mock==4.0.3
+mote==0.0.4
+motephat==0.0.3
+mypy==0.812
+mypy-extensions==0.4.3
+nudatus==0.0.5
+numpy==1.26.4
+oauthlib==3.1.0
+pantilthat==0.0.7
+parso==0.8.1
+pbr==5.5.0
+pexpect==4.8.0
+pgzero==1.2
+phatbeat==0.1.1
+pianohat==0.1.0
+picamera==1.13
+picamera2==0.3.12
+pickleshare==0.7.5
+pidng==4.0.9
+piexif==1.1.3
+piglow==1.2.5
+pigpio==1.78
+Pillow==8.1.2
+prompt-toolkit==3.0.14
+psutil==5.8.0
+pycairo==1.16.2
+pycodestyle==2.6.0
+pycups==2.0.1
+pyflakes==2.2.0
+pygame==1.9.6
+Pygments==2.7.1
+PyGObject==3.38.0
+pyinotify==0.9.6
+PyJWT==1.7.1
+pylint==2.7.2
+PyOpenGL==3.1.5
+pyOpenSSL==20.0.1
+pyparsing==2.4.7
+PyQt5==5.15.2
+PyQt5-sip==12.8.1
+pyserial==3.5b0
+pysmbc==1.0.23
+python-apt==2.2.1
+python-dateutil==2.8.1
+python-engineio==4.9.0
+python-prctl==1.7
+python-socketio==5.11.2
+PyYAML==5.3.1
+pyzmq==20.0.0
+QScintilla==2.11.6
+qtconsole==5.0.2
+QtPy==1.9.0
+rainbowhat==0.1.0
+reportlab==3.5.59
+requests==2.25.1
+requests-oauthlib==1.0.0
+responses==0.12.1
+roman==2.0.0
+RPi.GPIO==0.7.0
+RTIMULib==7.2.1
+scrollphat==0.0.7
+scrollphathd==1.2.1
+semver==2.10.2
+Send2Trash==1.6.0b1
+sense-emu==1.2
+sense-hat==2.6.0
+simple-websocket==1.0.0
+simplejpeg==1.6.4
+simplejson==3.17.2
+six==1.16.0
+skywriter==0.0.7
+sn3218==1.2.7
+soupsieve==2.2.1
+spi==0.2.0
+spidev==3.5
+ssh-import-id==5.10
+tfmini==0.3.2
+thonny==4.0.1
+toml==0.10.1
+tornado==6.1
+touchphat==0.0.1
+traitlets==5.0.5
+twython==3.8.2
+typed-ast==1.4.2
+typing-extensions==3.7.4.3
+uflash==1.2.4
+unicornhathd==0.0.4
+urllib3==1.26.5
+v4l2-python3==0.3.2
+waitress==3.0.0
+wcwidth==0.1.9
+webencodings==0.5.1
+WebIOPi==0.7.1
+Werkzeug==1.0.1
+wrapt==1.12.1
+wsproto==1.2.0
diff --git a/WebControl/sendMyIP.py b/WebControl/sendMyIP.py
new file mode 100644
index 0000000..e6019a0
--- /dev/null
+++ b/WebControl/sendMyIP.py
@@ -0,0 +1,36 @@
+import requests
+
+def envoyer_ip_en_db(ip, username, password):
+ url = 'http://votre_domaine.com/Voitures.ip' # Remplacez cela par l'URL de votre endpoint de base de données
+ data = {'ip': ip}
+ auth = (username, password)
+ try:
+ response = requests.post(url, data=data, auth=auth)
+ if response.status_code == 200:
+ print("Adresse IP envoyée avec succès à la base de données.")
+ else:
+ print("Erreur lors de l'envoi de l'adresse IP à la base de données. Statut :", response.status_code)
+ except Exception as e:
+ print("Une erreur s'est produite :", str(e))
+
+def obtenir_ip_publique():
+ try:
+ response = requests.get('http://ifconfig.me/ip')
+ if response.status_code == 200:
+ return response.text.strip()
+ else:
+ print("Impossible de récupérer l'adresse IP publique. Statut :", response.status_code)
+ return None
+ except Exception as e:
+ print("Une erreur s'est produite lors de la récupération de l'adresse IP publique :", str(e))
+ return None
+
+def main():
+ ip = obtenir_ip_publique()
+ if ip:
+ username = 'user'
+ password = 'mdp'
+ envoyer_ip_en_db(ip, username, password)
+
+if __name__ == "__main__":
+ main()
diff --git a/WebControl/ssl/cert.pem b/WebControl/ssl/cert.pem
new file mode 100644
index 0000000..6d8c8cf
--- /dev/null
+++ b/WebControl/ssl/cert.pem
@@ -0,0 +1,32 @@
+-----BEGIN CERTIFICATE-----
+MIIFcTCCA1mgAwIBAgIUS4tCNotqBR3lIQrgjCBncHs+Jt0wDQYJKoZIhvcNAQEL
+BQAwSDELMAkGA1UEBhMCRlIxEDAOBgNVBAgMB0VTU09OTkUxFzAVBgNVBAcMDlZJ
+UlktQ0hBVElMTE9OMQ4wDAYDVQQKDAVDQ0JJVDAeFw0yNDA1MTQxMTA1MTVaFw0y
+NTA1MTQxMTA1MTVaMEgxCzAJBgNVBAYTAkZSMRAwDgYDVQQIDAdFU1NPTk5FMRcw
+FQYDVQQHDA5WSVJZLUNIQVRJTExPTjEOMAwGA1UECgwFQ0NCSVQwggIiMA0GCSqG
+SIb3DQEBAQUAA4ICDwAwggIKAoICAQCWwO5zTV1s3KCEluoXSe/7Ls1zyfOg32tK
+LVnRg1iwalas04en7if2sousASQe+E1c1CzQASSunzSYxR1tMmyE0bXGHcLTwrPn
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+DhGdRlx4WkykHenkB8Fd4uFhhLhe4yqnpj0VPKHbep64mOK3T02q1cJ8r/8EmeDB
+nLed50yT5hax3omX+s2ii6hDFI7iegzOj5wXJ0R+hVLP4c9WBlOqat79c1YQ9wNo
+pd3iL8kHZBoZ+wdn67ybXH+s27ohoOWcbYCIhragH6TkURVrhYWYZADuHZMrOAnQ
+zLptcc+dfOs3jG1X0p+vVUFHO7YzQgsUhkuBTChUhmhkv0/hvsC3rh/ESV8iZhjG
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+R1PHV8a/XITx8xyo9RnMpQ8F9tAdEdMt3ZpANg+T2BywHegr3yCuSABksgCmirOa
+i86riBdUN01ptz9tq85X55CJnHLAiTNGUsrFXm+f1daN/UeodPeHQYbfzhO+AqgR
+pk5IDu9ZITE2tUNWOIuNyxpHYFLGLtbWHLWMSpIjtl8qvf3wan5n+aYSCCtd6GfF
+jDgWv1oW0x/xeUafooVm+tlUaOKpvqpxnlGvnJYnw9C0YuUiQF3mSLFj+q2m1ZbW
+4Ay1ep3Fz+xMDPDAiT7JvylAPTwwsVjQgBbK2mvg6t6Bwu9ylAtUtwZgnfSSoPRO
+rD4wv2of/sevysf4YebxlW12gv2CLupeQRh0XC4126MS0JKqphU9Bw+MsgI9ciMc
+3Hpzca8bXCwMbIRw+yirwo/EkG8K59LsPK3h+wyKW2UYnDCvLaTimz4l10qkDOQk
+57h0JCSidEGAj0VLZqNDhQPXjp0YHSap0cxAoYCWS1PNXIbCan9TbP2CnidsSJyf
+ltgFlUodMru187Mm8pvegvoNt9deDc8RGgodk/Lt5tLupBnI0Yjo4adyxTcCWs8O
+IlPYOZM=
+-----END CERTIFICATE-----
diff --git a/WebControl/ssl/key.pem b/WebControl/ssl/key.pem
new file mode 100644
index 0000000..e96a91d
--- /dev/null
+++ b/WebControl/ssl/key.pem
@@ -0,0 +1,52 @@
+-----BEGIN PRIVATE KEY-----
+MIIJQQIBADANBgkqhkiG9w0BAQEFAASCCSswggknAgEAAoICAQCWwO5zTV1s3KCE
+luoXSe/7Ls1zyfOg32tKLVnRg1iwalas04en7if2sousASQe+E1c1CzQASSunzSY
+xR1tMmyE0bXGHcLTwrPnWsQmBvm6WYblZUmbTFeIF+UCqubrkxuGcKkpB6DTMGfo
+uyolCukNVcV11B7jUaMSdsAINF4xd8x/NIZ6YLLyDI/vPb9wWt+bLZQfKMQRjwaU
+tm3izvdJ1Xbokp7De5iNaTk8MmpL/iQaRFuNRbianTy9JWxbvTt7ujkx3RQTqz+A
+gPdvFKXB7TPKcni0CmbzDhGdRlx4WkykHenkB8Fd4uFhhLhe4yqnpj0VPKHbep64
+mOK3T02q1cJ8r/8EmeDBnLed50yT5hax3omX+s2ii6hDFI7iegzOj5wXJ0R+hVLP
+4c9WBlOqat79c1YQ9wNopd3iL8kHZBoZ+wdn67ybXH+s27ohoOWcbYCIhragH6Tk
+URVrhYWYZADuHZMrOAnQzLptcc+dfOs3jG1X0p+vVUFHO7YzQgsUhkuBTChUhmhk
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+sBF7bJD7VkHMv5BTyyKg7GFEEcFcOkVVF+xxVDRwbmd12lPD0hVosipw2q52p/3C
+0OP5pQiB9EXgo5fSGSuetbkiGqZ5VwIDAQABAoICAF7XNaxYSaRJELsZbmAEZfOy
+OBLWRG064XajHVSPu2YRIEJOOZPOYlnzbadieGT7dUAnQ6IAdiFdi2to5uBhzp+o
+hyECbCVo4mF0Wt5JmSZBWHpMxIfs+UxnK+4HsosV20Uy71kesXDrjRN/XD49pOx8
+v2Mndd8w5tSg3KLMv02DvqVwWAH5f9qDSLIMOLnokbBAdmU78k3RmyRHuM3twuky
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+wUy6zOQfL7dkiIEkE8IqwNII4MFsponFSSK7h6IWkCRenwQmF/KXRo7UfglmLd5Z
+03+LuD6IYWCfcEF0aDC+z30mqxep3J8qliA0ojdalFUletk/0U2cdW6wL4ORHLxq
+Gcc4ksxksTqli/hs/qfXmVspuWiACMWaGppMye0QCz4H5AnM7skWRuMygRhYJrsC
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+kPuwJoEtVELQ0d74354i/Y5IcmqJrU8fi9FUK3MCggEAIQ1vwelpQVKgA+gpZel0
+kLX2mR+soicGi9K79ZRkj4fX4WziIOS92VXGcJ30VFEn5AJ30hW7xYNQiX+pnGg9
+cG3r4vBTmWd1o89F5o29Gs0AwY7FBCA7HsHhZd2AcG1Bz74uDvL4DVCprHVdCaL0
+LT0/YUgGA5Fw6ea6p8Nd560T0dYEA5aS6ulIVRASyWMGdKwzkGCCHR4lE8H6yn6y
+XocswCPZG2I2OLxHYjHPQ6Z/472GB4Ub+GqJKOIvAiEB2WGYAyDELjlOYrPeO2Mf
+2kMDWuvHs2dICpaykU8kUvaVtJuaO7dzGf8G/QwsWg2w8kEQHQt6qW6vS510G8Yu
+DQKCAQBAcsfvs4/aofOe64J+jqFRhy1nay+G48Zqq0uaezYUd9128sOLimQ7Ovjc
++SGdErYskhSUpduDQbft0RdPyWKNyaH+JiCVuxlU0gPm4U+VC0JrSbwB1Kn+kFCs
+Z1znUIT/HMucesNtssYTK3aJYBvb/lcllRPEKWuVhBSPbntFbcI2TCUo7Vq322tv
+19H/vYN6HUrQ7dYb/tPuRgdPzYSX/jIVCVzjBNawKmTHLc7acR+mZu+aFBsXETwe
+WDDgtQqx7R4FjmOIBC9Z4o9OcfTVtcb+Bv1+qtyTomdveCdul/DP10lx1pT/B0lE
+QLaqCqD7xHXEU5a4Ya0cRZIz2Qs6
+-----END PRIVATE KEY-----
diff --git a/WebControl/templates/index.html b/WebControl/templates/index.html
new file mode 100644
index 0000000..50623f4
--- /dev/null
+++ b/WebControl/templates/index.html
@@ -0,0 +1,90 @@
+
+
+
+ admin AUTO1
+
+
+
+
+
+
+
+
+CARIA
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/WebControl/templates/tests.html b/WebControl/templates/tests.html
new file mode 100644
index 0000000..389a83b
--- /dev/null
+++ b/WebControl/templates/tests.html
@@ -0,0 +1,19 @@
+
+
+
+
+
+ Interface d'administration
+
+
+
+
+ Vitesse de déplacement
+
+
+
+
+
+ 
+
+
+ 050
+
+
+
+ Contrôle des déplacements
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Caméra
+
+ 
+
+ Test de fonctionnement
+
+
+
+
+ Composants
+
+
+
+
+
+ Fonctionnalités
+
+
+
+
+
+ +
+
+
diff --git a/WebControl/tests/infrared_obstacle_module.py b/WebControl/tests/infrared_obstacle_module.py
new file mode 100644
index 0000000..29ac6fe
--- /dev/null
+++ b/WebControl/tests/infrared_obstacle_module.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import time
+
+ObstaclePin = 16
+
+def setup():
+ GPIO.setmode(GPIO.BCM)
+ GPIO.setup(ObstaclePin, GPIO.IN)
+
+def loop():
+ while True:
+ if GPIO.input(ObstaclePin) == GPIO.LOW:
+ print("Obstacle détecté")
+ else:
+ print("Aucun obstacle détecté")
+ time.sleep(0.5) # Attendre un peu entre les lectures pour éviter les faux positifs
+
+
+if __name__ == '__main__':
+ setup()
+ try:
+ loop()
+ except KeyboardInterrupt:
+ GPIO.cleanup()
diff --git a/WebControl/tests/lidar_module.py b/WebControl/tests/lidar_module.py
new file mode 100644
index 0000000..d536ff1
--- /dev/null
+++ b/WebControl/tests/lidar_module.py
@@ -0,0 +1,23 @@
+import serial
+import time
+
+try:
+ ser = serial.Serial('/dev/ttyAMA0', 115200, timeout=1)
+
+ # Envoi de la commande pour initialiser le capteur
+ ser.write(b'\x42\x57\x02\x00\x00\x00\x01\x06')
+
+ while True:
+ if ser.in_waiting >= 9:
+ if b'Y' == ser.read() and b'Y' == ser.read():
+ Dist_L = ser.read()
+ Dist_H = ser.read()
+ Dist_Total = (Dist_H[0] * 256) + Dist_L[0]
+ for i in range(0, 5):
+ ser.read() # Lecture et ignore des octets supplémentaires
+ print("Distance:", Dist_Total, "cm")
+except serial.SerialException as e:
+ print("Erreur série:", e)
+finally:
+ if 'ser' in locals():
+ ser.close() # Fermeture propre du port série
diff --git a/WebControl/tests/motor_speed_move.py b/WebControl/tests/motor_speed_move.py
new file mode 100644
index 0000000..0eea39d
--- /dev/null
+++ b/WebControl/tests/motor_speed_move.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import time
+import sys
+sys.path.append('/home/christian/WebControl/modules/')
+from AlphaBot import AlphaBot
+
+# Test de la classe AlphaBot avec différentes vitesses pour les moteurs individuels
+def test_alphabot_speed():
+ bot = AlphaBot()
+ try:
+ while True: # Boucle infinie
+ for speed in range(20, 101, 40):
+ print(f"Test de vitesse à {speed}%")
+
+ # Vérifier si speed est une chaîne non vide
+ if speed != '':
+ # Test des moteurs en avance
+ bot.forward(speed)
+ time.sleep(1)
+ bot.stop()
+ time.sleep(0.5)
+
+ # Test des moteurs en arrière
+ bot.backward(speed)
+ time.sleep(1)
+ bot.stop()
+ time.sleep(0.5)
+
+ # Test du moteur gauche en avant et moteur droit en arrière
+ bot.left(speed)
+ time.sleep(1)
+ bot.stop()
+ time.sleep(0.5)
+
+ # Test du moteur gauche en arrière et moteur droit en avant
+ bot.right(speed)
+ time.sleep(1)
+ bot.stop()
+ time.sleep(0.5)
+ except KeyboardInterrupt:
+ bot.cleanup()
+
+if __name__ == "__main__":
+ test_alphabot_speed()
diff --git a/WebControl/tests/rfid_read_write_module.py b/WebControl/tests/rfid_read_write_module.py
new file mode 100644
index 0000000..69d0a40
--- /dev/null
+++ b/WebControl/tests/rfid_read_write_module.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+# Importation des bibliothèques
+import time
+from gpiozero import LED
+from joyit_mfrc522 import SimpleMFRC522
+
+# Initialisation de l'objet pour le module RFID
+reader = SimpleMFRC522()
+
+# Fonction pour la lecture du tag RFID
+def read_rfid():
+ print("### Lecture RFID ###")
+ print("Approchez le tag RFID du capteur:")
+ id, text = reader.read()
+ print("ID:", id)
+ print("Contenu:", text)
+ time.sleep(5)
+
+# Fonction pour l'écriture sur le tag RFID avec gestion des erreurs
+def write_rfid(data, max_attempts=3):
+ print("### Écriture RFID ###")
+ print("Valeur qui sera écrite:", data)
+ print("Approchez le tag RFID du capteur:")
+ try:
+ reader.write(data)
+ print("Succès de l'écriture sur le tag RFID.")
+ time.sleep(3) # Attente courte avant de vérifier l'écriture
+ except Exception as e:
+ print(f"Erreur lors de l'écriture RFID: {e}")
+ time.sleep(3) # Attendre avant de réessayer
+
+# Lecture initiale du tag RFID
+read_rfid()
+
+# Écriture sur le tag RFID
+write_rfid("TEST RFID")
+
+# Seconde lecture du tag RFID
+read_rfid()
diff --git a/WebControl/tests/servo_motor.py b/WebControl/tests/servo_motor.py
new file mode 100644
index 0000000..0ca90aa
--- /dev/null
+++ b/WebControl/tests/servo_motor.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import RPi.GPIO as GPIO
+import time
+
+# Définir la broche GPIO pour le signal du servo-moteur
+SERVO_PIN = 27
+
+def setup():
+ GPIO.setmode(GPIO.BCM)
+ GPIO.setup(SERVO_PIN, GPIO.OUT)
+
+def set_angle(angle):
+ pwm = GPIO.PWM(SERVO_PIN, 50) # Fréquence PWM de 50 Hz
+ pwm.start(2.5) # Position neutre (angle de 0 degrés)
+ duty_cycle = angle / 18.0 + 2.5 # Convertir l'angle en devoir (duty cycle)
+ pwm.ChangeDutyCycle(duty_cycle)
+ time.sleep(0.5) # Attendre que le servo atteigne la position désirée
+ pwm.stop()
+
+if __name__ == '__main__':
+ try:
+ setup()
+ while True:
+ # Faire tourner le servo-moteur de 0 à 180 degrés avec un pas de 30 degrés
+ for angle in range(0, 181, 30):
+ print("Rotation du servo moteur à {} degrés".format(angle))
+ set_angle(angle)
+ time.sleep(1)
+ except KeyboardInterrupt:
+ GPIO.cleanup()
diff --git a/WebControl/webcontrol-launch.sh b/WebControl/webcontrol-launch.sh
new file mode 100644
index 0000000..16d17cf
--- /dev/null
+++ b/WebControl/webcontrol-launch.sh
@@ -0,0 +1,2 @@
+cd /home/christian/WebControl
+sudo python3 main.py
Interface de tests
+ +