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Made an irrelevant adjustment. Also added some documentation to the source code.

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d3rped 2018-03-19 00:44:57 +01:00
parent 23fb6e80e7
commit 0f1b696a20
2 changed files with 28 additions and 9 deletions
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15
src/move.py
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@ -12,18 +12,29 @@ class Move:
self._sensor = Sensor()
self._bumper = ev3.TouchSensor()
'''
determine maximum and minimum brightness of lines/white space
depending on environment lighting
'''
def _calibrate(self):
pass
'''
Function to correct errors should the robot wander astray
'''
def _aligntoedge(self):
pass
'''
uses odometry and the planet object to map edges that are connected to
current node.
'''
def getstationedges(self):
pass
def traversetonextstation(self, isknownstation):
self._wheel_l.speed_set = 20
self._wheel_r.speed_set = 20
self._wheel_l.speed_set = 24
self._wheel_r.speed_set = 24
self._wheel_l.run()
self._wheel_r.run()
while(self._bumper.value() == False):

14
src/sensor.py
View file

@ -2,8 +2,14 @@
import ev3dev.ev3 as ev3
'''
add enum for color definitions (type should be tupel of int's).
later onwards compare the idividual readouts like this to determine the color:
RED(>90, <40, <25)
BLUE(<25, >75, >90)
still needs to be tested and implemented
'''
# add enum for color definitions
class Sensor:
def __init__(self):
@ -11,18 +17,20 @@ class Sensor:
self._sensor.mode = 'COL-REFLECT'
def iscolor(self, color):
if(self._sensor.mode == 'RGB-RAW'):
curcol = self._sensor.bin_data("hhh")
if curcol == curcol:
return True
else:
return False
else:
print("ERROR: incorrect sensor mode:" + self._sensor.mode)
# see https://stackoverflow.com/questions/687261/converting-rgb-to-grayscale-intensity
def getbrightness(self):
if(self._sensor.mode == 'COL-REFLECT'):
return self._sensor.value()
else:
print("ERROR: incorrect sensor mode.")
print("ERROR: incorrect sensor mode:" + self._sensor.mode)
def setmode(self, newmode):
self._sensor.mode = newmode