From 8f81512053a49234dbf64d7e3235530c4e70f5fd Mon Sep 17 00:00:00 2001
From: Raktbastr <finn.olson.25@gmail.com>
Date: Fri, 27 Mar 2026 11:41:24 -0500
Subject: [PATCH] Added barometric sensor and accelerometer/gyroscope. Improved
 lidar sensor. Improved index.html.

---
 main.py              | 56 ++++++++++++++++++++++++++++++--------------
 templates/index.html | 47 +++++++++++++++++++++++++++----------
 2 files changed, 74 insertions(+), 29 deletions(-)

diff --git a/main.py b/main.py
index 082a245..2e67dc1 100644
--- a/main.py
+++ b/main.py
@@ -1,22 +1,44 @@
 # These two modules allow us to run a web server.
+from contextlib import nullcontext
 from flask import Flask, render_template
 from flask_socketio import SocketIO
 from tfluna import TFLuna
-
-# This module lets us pick random numbers, you can remove it later.
+from bmp180 import BMP180
+from mpu6050 import mpu6050
 import random
 
 # Here, we create the neccesary base app. You don't need to worry about this.
 app = Flask(__name__)
 socketio = SocketIO(app)
 
+# Sensor initialization
+bmp = BMP180()
+mpu = mpu6050(0x68)
 tfluna = TFLuna()
 tfluna.open()
 tfluna.set_samp_rate(10)
-def printLidar():
-    distance, strength, temperature = tfluna.read()
-    lidarValues = {distance, strength, temperature}
-    return str(lidarValues)
+
+# tfl Class to format the getters like the other sensors.
+class tfl:
+    @staticmethod
+    def get_distance():
+        return tfluna.read()[0]
+    @staticmethod
+    def get_strength():
+        return tfluna.read()[1]
+    @staticmethod
+    def get_temperature():
+        return tfluna.read()[2]
+
+# All the sensor data getters, for reference
+# bmp.get_temperature()
+# bmp.get_pressure()
+# bmp.get_altitude()
+# mpu.get_accel_data()
+# mpu.get_gyro_data()
+# tfl.get_distance()
+# tfl.get_strength()
+# tfl.get_temperature()
 
 # When someone requests the root page from our web server, we return 'index.html'.
 @app.route('/')
@@ -26,21 +48,21 @@ def index():
 # This function runs in the background to transmit data to connected clients.
 def background_thread():
     while True:
-        # We sleep here for a single second, but this can be increased or decreased depending on how quickly you want data to be pushed to clients.
-        socketio.sleep(0.1)
-        # Then, we emit an event called "update_data" - but this can actually be whatever we want - with the data being a dictionary
-        # where 'randomNumber' is set to a random number we choose here. You should replace the data being sent back with your sensor data
-        # that you fetch from things connected to your Pi.
+        socketio.sleep(0.5)
         socketio.emit(
             'update_data',
             {
-                'randomNumber': random.randint(1, 100),
-                # you can add more here! for instance, something along the lines of:
-                # 'mySensor': mysensor.get_sensor_data(),
-                'lidar': printLidar()
+                'randomNumber': random.randint(1, 100), # Keeping this here to make sure the page is being updated
+                'bmpTemp': bmp.get_temperature(),
+                'bmpPressure': bmp.get_pressure(),
+                'bmpAltitude': bmp.get_altitude(),
+                'mpuAccel': mpu.get_accel_data(),
+                'mpuGyro': mpu.get_gyro_data(),
+                'tflDistance': tfl.get_distance(),
+                'tflStrength': tfl.get_strength(),
+                'tflTemp': tfl.get_temperature(),
             }
         )
-        # To add a your first new sensor, try giving https://docs.aerospacejam.org/getting-started/first-sensor a read!
 
 # This function runs when someone connects to the server - and all we do is start the background thread to update the data.
 @socketio.on('connect')
@@ -51,7 +73,7 @@ def handle_connect():
 # This function is called
 def main():
     # These specific arguments are required to make sure the webserver is hosted in a consistent spot, so don't change them unless you know what you're doing.
-    socketio.run(app, host='0.0.0.0', port=8085, allow_unsafe_werkzeug=True)
+    socketio.run(app, host='0.0.0.0', port=8080, allow_unsafe_werkzeug=True)
 
 if __name__ == '__main__':
     main()
diff --git a/templates/index.html b/templates/index.html
index 0ab2cc1..f283daa 100644
--- a/templates/index.html
+++ b/templates/index.html
@@ -2,15 +2,28 @@
 <html>
 <head>
     <!-- This sets your page title. You can change this to whatever you want! -->
-    <title>Aerospace Jam Example</title>
+    <title>Team 2B2T Drone</title>
     <!-- The below script tag is used to load socket.io from the server. -->
     <script src="{{ url_for('static', filename='js/socket.io.js') }}"></script>
 </head>
 <body>
-    <h1>Aerospace Jam Example</h1>
+    <h1>Team 2B2T Drone</h1>
     <!-- Notice how the span that contains the placeholder value has an ID. We reference this ID later in the script, and it lets us pick this element in specific. -->
-    <p><b>Random number chosen by the Pi: </b> <span id="randomNumber">Loading...</span></p>
-    <p><b>Lidar Values: </b> <span id="lidar">Loading...</span></p>
+    <p>Random Number (lost connection if stopped):  <span id="randNum">Loading...</span></p>
+    <br><br>
+    <p><b>Barometric Sensor Values</b></p>
+    <p>Temperature:  <span id="bmpTemp">Loading...</span></p>
+    <p>Pressure:  <span id="pressure">Loading...</span></p>
+    <p>Altitude:  <span id="altitude">Loading...</span></p>
+    <br><br>
+    <p><b>Accelerometer Sensor Values</b></p>
+    <p>Acceleration:  <span id="accel">Loading...</span></p>
+    <p>Gyroscope:  <span id="gyro">Loading...</span></p>
+    <br><br>
+    <p><b>Lidar Sensor Values</b></p>
+    <p>Distance:  <span id="distance">Loading...</span></p>
+    <p>Strength:  <span id="strength">Loading...</span></p>
+    <p>Temperature:  <span id="lidarTemp">Loading...</span></p>
     <script>
         // This function wrapper (addEventListener) makes the inner contents run only when the DOM (Document Object Model) content is loaded.
         // In simpler terms, this runs once the page has finished loading.
@@ -19,15 +32,25 @@
             var socket = io.connect('http://' + document.domain + ':' + location.port);
             // Now, we subscribe to the server's "update_data" events - this is sent every second by the background thread, but you can change both the events' names and the speed of these events being sent.
             socket.on('update_data', function(msg) {
-                // Now, we get the span that we defined before by its ID...
-                var randomNumberSpan = document.getElementById('randomNumber');
-                var lidarDistanceSpan = document.getElementById('lidar');
-				// And we set its content to the random number we just got from the server.
+                var randomNumberSpan = document.getElementById('randNum');
+                var bmpTempSpan = document.getElementById('bmpTemp');
+                var bmpPressureSpan = document.getElementById('pressure');
+                var bmpAltSpan = document.getElementById('altitude');
+                var accelSpan = document.getElementById('accel');
+                var gyroSpan = document.getElementById('gyro');
+                var distanceSpan = document.getElementById('distance');
+                var strengthSpan = document.getElementById('strength');
+                var lidarTempSpan = document.getElementById('lidarTemp');
+
                 randomNumberSpan.textContent = msg.randomNumber;
-		lidarDistanceSpan.textContent = msg.lidar;
-                // For new sensors, we can really easily repeat this! For instance, if you added a piece to the data on the server side called "mySensor", as in the other example, you could do:
-                // var mySensorSpan = document.getElementById('mySensor');
-                // mySensorSpan.textContent = msg.mySensor;
+		        bmpTempSpan.textContent = msg.bmpTemp;
+                bmpPressureSpan.textContent = msg.bmpPressure;
+                bmpAltSpan.textContent = msg.bmpAltitude;
+                accelSpan.textContent = msg.mpuAccel;
+                gyroSpan.textContent = msg.mpuGyro; 
+                distanceSpan.textContent = msg.tflDistance;
+                strengthSpan.textContent = msg.tflStrength;
+                lidarTempSpan.textContent = msg.tflTemp;
             });
         });
     </script>