More work towards a working main loop...
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d3rped
parent
1dc4f5a2d7
commit
678c94532e
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@ -103,9 +103,15 @@ class Communication:
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def status(self):
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return self._status
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def update(self, edges): # TODO: FINISH
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def update(self, odometry, edges): # TODO: FINISH
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if(odometry != None):
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self.planet.setcurnode(self.planet.getcurnode() + odometry[0])
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if(edges is None and self._status is Mode.EXPLORE):
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self._status = Mode.GOTOSTATION
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if(self.planet.unexedge == []):
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self.encode_message(Command.COMPLETE, None)
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else:
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self.navto = next(filter(lambda x: x is not None, map(lambda edge: self.planet.shortest_path(self.planet.getcurnode(), edge), self.planet.unexedge)))
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self._status = Mode.GOTOSTATION
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elif(edges is None):
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pass
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else:
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@ -145,8 +151,9 @@ class Communication:
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elif message.startswith(Command.PATH):
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self.stringtopath(*message[5:].rsplit(' '))
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elif message.startswith(Command.TARGET):
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self._status = Mode.TARGET
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self.navto = self.planet.shortest_path(self.planet.getcurnode(), str2tuple(*message[7:].rsplit(',')))
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if(self.navto != None):
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self._status = Mode.TARGET
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elif message.startswith(Command.NOTICE):
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print(message)
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@ -27,13 +27,14 @@ def run():
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while(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET): # should be triggered if current station has no unexplored edges
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for instructions in communication.navto:
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for instructions in communication.navto:
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communication.update(None)
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communication.update(None, None)
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move.turnto(instructions[1])
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move.traversetonextstation(True)
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communication.update(move.getstationedges()) # TODO: Register in map
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communication.update(move._odometry.coordinates_get(), move.getstationedges()) # TODO: Register in map
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move.updatevars()
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move.turnto(communication.navto[0][1]) # TODO: add control mechanism to communication class
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if(communication.check(move.traversetonextstation(False)) is False): # TODO: let same control mechanism decide if station is known, also traversetonextstation needs a return value
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if(communication.check(move.traversetonextstation(False)) is False):
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move.setcurdir(communication.getdir())
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36
src/move.py
36
src/move.py
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@ -3,6 +3,8 @@
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from wheel import Wheel
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from sensor import Sensor
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from odometry import Odometry
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from planet import Direction
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from time import sleep
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def capat100(value):
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@ -35,14 +37,22 @@ class Move:
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self._sensor.calibrateBrightness()
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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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self._wheel_l.speed_set(20)
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self._wheel_r.speed_set(-20)
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self._wheel_l.run()
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self._wheel_r.run()
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self._sensor.refresh()
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while(self._sensor.getbrightness() > self._sensor.edgebrightness):
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self._sensor.refresh()
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self._wheel_l.stop()
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self._wheel_r.stop()
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self._wheel_l.turnbyamount(20, 20)
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self._wheel_r.turnbyamount(-20, 20)
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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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@ -52,12 +62,25 @@ class Move:
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Next turn around and detect edges through drops in _sensor.getbrightness()
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'''
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def getstationedges(self):
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pass
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found_edges = []
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self._odometry.reset()
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while(True):
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self._aligntoedge()
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self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
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if(self._odometry.angle_get() in found_edges):
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break
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else:
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found_edges.append(self._odometry.angle_get())
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self._wheel_l.turnbyamount(20, 20)
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self._wheel_r.turnbyamount(-20, 20)
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sleep(2)
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return found_edges
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def turnto(self, direction):
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turnval = self._odometry.dir2ticks(direction)
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self._wheel_l.turnbyamount(turnval, self.defaultspeed)
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self._wheel_r.turnbyamount(-turnval, self.defaultspeed)
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self._wheel_l.turnbyamount(turnval, 90)
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self._wheel_r.turnbyamount(-turnval, 90)
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def traversetonextstation(self, isknownstation):
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self._wheel_l.speed_set(self._sensor.edgebrightness//2)
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@ -72,6 +95,5 @@ class Move:
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self._sensor.getcolor()
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if(not isknownstation):
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self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
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self._wheel_l.stop()
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self._wheel_r.stop()
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@ -61,6 +61,9 @@ class Odometry:
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def angle_set(self, newangle):
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self._v_angle = newangle
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def angle_get(self):
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return angle2dir(self._v_angle)
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def coordinates_get(self):
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return ((posround(self._posxy[0]), posround(self._posxy[1])), angle2dir(self._v_angle))
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@ -69,8 +72,8 @@ class Odometry:
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self._distance[1] = ticks_wheel[1] * self._distance_per_tick
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self._v_length = self._v_length + (self._distance[0] + self._distance[1])/2
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self._v_angle = self._v_angle + (self._distance[0] - self._distance[1])/self._wheel_axis
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self.coordinates_update()
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self._wheel_center = (self._distance[0] + self._distance[1])/2
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self.coordinates_update()
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print((self._v_length, angle2dir(self._v_angle)))
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def coordinates_update(self): # worked as function outside the class
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@ -79,10 +82,6 @@ class Odometry:
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print((self._posxy[0], self._posxy[1]))
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def dir2ticks(self, destdir): # return amount of ticks to turn to a given direction (current direction should be _v_angle)
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self._ticksperwheel = 0
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self._current_Direc = (self._v_angle /self._pi) * 180
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self._ticks_def = self._current_Direc - destdir
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self._ticksperwheel = self._ticks_def / 2
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if self._ticksperwheel < 0:
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self._ticksperwheel = - self._ticksperwheel
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return ticksperwheel
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turnval = (destdir - self._v_angle) * 2
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self._v_angle = destdir
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return turnval
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@ -0,0 +1,19 @@
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from move import Move
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mymove = Move()
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mymove._sensor.refresh()
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mymove.maxbrightness = mymove._sensor.getbrightness()
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mymove.maxbrightness = 50
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mymove._wheel_l.getmovement()
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mymove._wheel_r.getmovement()
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try:
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mymove.traversetonextstation(False)
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except:
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mymove._wheel_l.stop()
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mymove._wheel_r.stop()
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mymove._wheel_l.getmovement()
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mymove._wheel_r.getmovement()
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@ -50,7 +50,7 @@ class Planet:
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def __init__(self):
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""" Initializes the data structure """
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self._planetmap = {}
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self._unexedge = []
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self.unexedge = []
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self._curnode = None
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self._curdir = Direction.NORTH
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self.target = None
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@ -79,10 +79,10 @@ class Planet:
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return self._curdir
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def addtounexedge(self, node_edge_list):
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self._unexedge = self._unexedge + node_edge_list
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self.unexedge = self.unexedge + node_edge_list
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def exploreedge(self, node_edge):
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self._unexedge.remove(node_edge)
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self.unexedge.remove(node_edge)
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'''
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Returns a shortest path between two nodes.
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