Made an irrelevant adjustment. Also added some documentation to the source code.
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2 changed files with 28 additions and 9 deletions
15
src/move.py
15
src/move.py
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@ -12,18 +12,29 @@ class Move:
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self._sensor = Sensor()
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self._bumper = ev3.TouchSensor()
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'''
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determine maximum and minimum brightness of lines/white space
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depending on environment lighting
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'''
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def _calibrate(self):
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pass
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'''
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Function to correct errors should the robot wander astray
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'''
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def _aligntoedge(self):
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pass
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'''
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uses odometry and the planet object to map edges that are connected to
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current node.
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'''
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def getstationedges(self):
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pass
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def traversetonextstation(self, isknownstation):
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self._wheel_l.speed_set = 20
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self._wheel_r.speed_set = 20
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self._wheel_l.speed_set = 24
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self._wheel_r.speed_set = 24
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self._wheel_l.run()
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self._wheel_r.run()
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while(self._bumper.value() == False):
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@ -2,8 +2,14 @@
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import ev3dev.ev3 as ev3
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'''
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add enum for color definitions (type should be tupel of int's).
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later onwards compare the idividual readouts like this to determine the color:
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RED(>90, <40, <25)
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BLUE(<25, >75, >90)
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still needs to be tested and implemented
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'''
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# add enum for color definitions
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class Sensor:
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def __init__(self):
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@ -11,18 +17,20 @@ class Sensor:
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self._sensor.mode = 'COL-REFLECT'
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def iscolor(self, color):
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curcol = self._sensor.bin_data("hhh")
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if curcol == curcol:
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return True
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if(self._sensor.mode == 'RGB-RAW'):
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curcol = self._sensor.bin_data("hhh")
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if curcol == curcol:
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return True
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else:
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return False
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else:
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return False
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print("ERROR: incorrect sensor mode:" + self._sensor.mode)
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# see https://stackoverflow.com/questions/687261/converting-rgb-to-grayscale-intensity
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def getbrightness(self):
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if(self._sensor.mode == 'COL-REFLECT'):
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return self._sensor.value()
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else:
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print("ERROR: incorrect sensor mode.")
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print("ERROR: incorrect sensor mode:" + self._sensor.mode)
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def setmode(self, newmode):
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self._sensor.mode = newmode
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