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Everything should work now. But it doesn't.

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d3rped 2018-03-26 09:10:13 +02:00
parent aa6b049ce5
commit 6b2a19ebdc
3 changed files with 25 additions and 35 deletions
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10
src/communication.py
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@ -101,19 +101,21 @@ class Communication:
self.client.loop_start()
self._status = Mode.EXPLORE
self.navto = []
self.isfirstrun = True
def status(self):
return self._status
def update(self, odometry): # TODO: FINISH
if(odometry is not None): # use odometry to send data
if(self.isfirstrun):
pass
elif(odometry is not None): # use odometry to send data
self.encode_message(Command.PATH, ((self.planet.getcurnode(), self.planet.getcurdir()), ((self.planet.getcurnode()[0] + odometry[0][0], self.planet.getcurnode()[1] + odometry[0][1]), (odometry[1] - 180) % 360), odometry[2]))
if(self._status is Mode.GOTOSTATION or self._status is Mode.TARGET):
elif(self._status is Mode.GOTOSTATION or self._status is Mode.TARGET):
self.encode_message(Command.PATH, ((self.navto[0][0], self.navto[0][1]), (self.planet._planetmap[self.navto[0][0]][self.navto[0][1]][0], self.planet._planetmap[self.navto[0][0]][self.navto[0][1]][1]), self.planet._planetmap[self.navto[0][0]][self.navto[0][1]][2]))
self.navto.pop(0)
self.process_messages() # this should update curnode and curdir
def process(self, edges):
def process_edges(self, edges):
edges = self.planet.checkedges(edges)
if(edges == [] and self._status is Mode.EXPLORE):
if(self.planet.unexedge == []):

44
src/main.py
View file

@ -24,40 +24,28 @@ def run():
while(communication.planetname is None):
communication.process_messages()
# run first time not in loop because odometry data is not relevant
communication.update(None) # TODO: Register in map
# correct odometry right here otherwise list of edges will be incorrect
move.setcurdir(communication.getdir())
communication.process(move.getstationedges())
move.turnto(communication.navto[0][1]) # TODO: add control mechanism to communication class
sleep(4)
communication.planet.setcurdir(communication.navto[0][1])
move.setcurdir(communication.getdir())
move.reset()
print("current dir:", move._odometry.angle_get())
print("Navigation Data:", communication.navto)
move.traversetonextstation(False)
while(communication.status() is not Mode.COMPLETE):
while(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET): # should be triggered if current station has no unexplored edges
for instructions in communication.navto:
for instructions in communication.navto:
communication.update(None, None)
move.turnto(instructions[1])
move.traversetonextstation(True)
communication.update(move.getstats()) # TODO: Register in map
# correct odometry right here otherwise list of edges will be incorrect
move.setcurdir(communication.getdir())
communication.process(move.getstationedges())
move.turnto(communication.navto[0][1]) # TODO: add control mechanism to communication class
sleep(4)
communication.planet.setcurdir(communication.navto[0][1])
move.setcurdir(communication.getdir())
move.reset()
print("current dir:", move._odometry.angle_get())
print("Navigation Data:", communication.navto)
move.traversetonextstation(False)
communication.process_edges(move.getstationedges())
if(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET): # should be triggered if current station has no unexplored edges
for instructions in communication.navto:
move.turnto(instructions[1])
move.traversetonextstation(True)
move.setcurdir(communication.planet._planetmap[instructions[0]][instructions[1]][1])
communication.update(None)
communication.navto.clear()
communication._status = Mode.EXPLORE
else:
move.turnto(communication.navto[0][1])
sleep(4)
communication.planet.setcurdir(communication.navto[0][1])
move.setcurdir(communication.getdir())
move.reset()
move.traversetonextstation(False)
# DO NOT EDIT

6
src/move.py
View file

@ -97,8 +97,8 @@ class Move:
else:
found_edges.append(self._odometry.angle_get())
self._odometry.angle_set(self._odometry.angle_get())
self._wheel_l.turnbyamount(40, 60)
self._wheel_r.turnbyamount(-40, 60)
self._wheel_l.turnbyamount(20, 40)
self._wheel_r.turnbyamount(-20, 40)
sleep(2)
self._aligntoedge()
self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
@ -141,7 +141,7 @@ class Move:
self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
self._wheel_l.stop()
self._wheel_r.stop()
if(self._sensor._bumper_r):
if(self._sensor.bumperwaspressed is True):
self._wheel_l.turnbyamount(-200, 120)
self._wheel_r.turnbyamount(-200, 120)
sleep(1)