RasPi Code

import datetime

import time

from gpiozero import DistanceSensor

import RPi.GPIO as GPIO

from flask import Flask,render_template,request

GPIO.setmode(GPIO.BOARD)

GPIO.setwarnings(False)

app = Flask(__name__)

TRIG=29

ECHO=31

IRL=33

IRR=35

GPIO.setup(TRIG,GPIO.OUT)

GPIO.setup(ECHO,GPIO.IN)

GPIO.setup(IRL,GPIO.IN)

GPIO.setup(IRR,GPIO.IN)
@app.route("/")

def main():

return render_template('index.html')

@app.route("/readValue")

def sendValues():

file=open("DataLog.txt",'a')

IRL_Value=str(GPIO.input(IRL))

IRR_Value=str(GPIO.input(IRR))

US=str(ultrasonic())

Speed=speed(datetime.datetime.now())

LS=Speed[Speed.index("L=")+2:Speed.index(" ")]

RS=Speed[Speed.index(" ")+3:]

value="RPM of Left Motor:"+LS+" RPM of Right Motor:"+RS+" Ultrasonic Distance:"+US

file.write(str(datetime.datetime.now())+" "+value+"\n")

ServerValues=RS+"#"+LS+"%"+US

print(ServerValues)

return ServerValues

def speed(T):

stateL=GPIO.input(IRL)

stateR=GPIO.input(IRR)

countL=0

countR=0
 while (datetime.datetime.now()-T).total_seconds()*1000<500:

if GPIO.input(IRL)==1-stateL:

countL+=1

stateL=1-stateL

if GPIO.input(IRR)==1-stateR:

countR+=1

stateR=1-stateR

speedL=countL*15

speedR=countR*15

return "L="+str(speedL)+" R="+str(speedR)

def ultrasonic():

GPIO.output(TRIG,False)

time.sleep(0.0002)

GPIO.output(TRIG,True)

time.sleep(0.00001)

GPIO.output(TRIG,False)

while GPIO.input(ECHO)==0:

pulse_start=time.time()

while GPIO.input(ECHO)==1:

pulse_end=time.time()

pulse_duration=pulse_end-pulse_start

distance=pulse_duration*17150

distance=int(round(distance,2))

if distance>400:
 distance=400

return distance

if __name__=="__main__":

app.run(host='0.0.0.0',port=8000,debug=True)