applied commit: 08e0f98. Moved the brightness updater into the refresh method.

This commit is contained in:
d3rped 2018-03-22 14:34:55 +01:00
parent 172e368380
commit 40c5adfa0b
4 changed files with 30 additions and 18 deletions

View File

@ -1,6 +1,5 @@
#!/usr/bin/env python3
import ev3dev.ev3 as ev3
from wheel import Wheel
from sensor import Sensor
from odometry import Odometry
@ -11,16 +10,14 @@ class Move:
try:
self._wheel_l = Wheel('outB')
self._wheel_r = Wheel('outC')
self._camera = Sensor()
self._bumper = ev3.TouchSensor()
self._sensor = Sensor()
except OSError:
print("ERROR: Cannot find Motor/Sensor")
self.maxbrightness = 0
self.minbrightness = 0
self.edgebrightness = 0
self._odometry = Odometry()
except OSError:
print("ERROR: Cannot find Motor/Sensor")
'''
determine maximum and minimum brightness of lines/white space
depending on environment lighting
@ -55,7 +52,7 @@ class Move:
self._wheel_r.speed_set(-15)
self._wheel_l.stop()
self._wheel_r.stop()
# pass
'''
Function to correct errors should the robot wander astray
'''
@ -80,12 +77,13 @@ class Move:
self._wheel_l.run()
self._wheel_r.run()
while (not self._bumper.value() and self._camera.lastcolor == None):
while (not self._sensor.bumperispressed() and self._sensor.lastcolor == None):
self._camera.refresh()
self._wheel_l.speed_set(self.maxbrightness//2 - self._camera.getbrightness()//2)
self._wheel_r.speed_set(self._camera.getbrightness()//2)
self._camera.getcolor()
self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2)
self._wheel_r.speed_set(self._sensor.getbrightness()//2)
self._sensor.getcolor()
if(not isknownstation):
print(self._odometry.degree(self._wheel_l.getmovement(), self._wheel_r.getmovement(), 0))
self._wheel_l.stop()
self._wheel_r.stop()

View File

@ -35,7 +35,7 @@ class Odometry:
self.alpha = 0
# worked fine outside the class as function in nano, maybe we must fix it a bit :)
# worked fine outside the class as function in nano, maybe we must fix it a bit :)
def degree(self, delta_rotation_l, delta_rotation_r): # delta_rotation_l/r should work with getmovement method
self.alpha = ((delta_rotation_l * self._distance_per_tick - delta_rotation_r * self._distance_per_tick)/self._wheel_axis) + self.alpha

View File

@ -50,6 +50,7 @@ class Planet:
def __init__(self):
""" Initializes the data structure """
self._planetmap = {}
self._unexedge = []
self._curnode = None
self.target = None
@ -73,6 +74,12 @@ class Planet:
def getcurnode(self):
return self._curnode
def addtounexedge(self, node_edge_list):
self._unexedge = self._unexedge + node_edge_list
def exploreedge(self, node_edge):
self._unexedge.remove(node_edge)
'''
Returns a shortest path between two nodes.
Used Algorithm: Dijkstra's Algorithm

View File

@ -30,18 +30,25 @@ class Color(tuple, Enum):
class Sensor:
def __init__(self):
self._sensor = ev3.ColorSensor()
self._sensor.mode = 'RGB-RAW'
self.RGB = self._sensor.bin_data("hhh")
self._bumper = ev3.TouchSensor()
self._camera = ev3.ColorSensor()
self._camera.mode = 'RGB-RAW'
self.RGB = self._camera.bin_data("hhh")
self._brightness = self._camera.value()
self.lastcolor = None
def refresh(self):
self.RGB = self._sensor.bin_data("hhh")
def bumperispressed(self):
self._bumper.value()
def refresh(self): # do we still want to check if the propper camera/sensor mode is set?
self.RGB = self._camera.bin_data("hhh")
self._brightness = self._camera.value()
def getbrightness(self):
return self._sensor.value()
return self._brightness
def getcolor(self):
if(self._camera.mode == 'RGB-RAW'):
if(self.RGB[0] > Color.RED[0] and (self.RGB[1], self.RGB[2]) < (Color.RED[1], Color.RED[2])):
self.lastcolor = Color.RED
if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):