derped/robolab
1
0
Fork 0
Code Pull requests Releases Activity

Commented out prototype functions.

Browse source
This commit is contained in:
haselnussbier 2018-03-21 14:54:24 +01:00 committed by d3rped
parent 23ddc2c24a
commit 74e78cf2ee
1 changed files with 54 additions and 2 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

56
src/move.py
View file

@ -3,6 +3,7 @@
import ev3dev.ev3 as ev3
from wheel import Wheel
from sensor import Sensor
import time
class Move:
@ -25,9 +26,56 @@ class Move:
'''
Function to correct errors should the robot wander astray
'''
# Probably redundant because aligning can be done while scanning other paths
def _aligntoedge(self):
'''
isonedge = False
alternatingvalue = 2 # value used to switch turning directions using mod 2 hence theres only two possible values when you keep increasing the value
if(self._sensor.getbrightness() < 24):
while (not (self._sensor.getbrightness() == 24)):
self._wheel_l.speed_set(5)
self._wheel_r.speed_set(-5)
elif(self._sensor.getbrightness() > 24):
while (not isonedge):
if alternatingvalue % 2 == 0:
isonedge = self._findedgeonrightside(alternatingvalue)
self._wheel_l.stop()
self._wheel_r.stop()
if alternatingvalue % 2 == 1:
isonedge = self._findedgeonleftside(alternatingvalue)
self._wheel_l.stop()
self._wheel_r.stop()
alternatingvalue = alternatingvalue + 1
'''
pass
'''
def _findedgeonleftside(self, alternatingvalue):
i = 0
while i < alternatingvalue:
self._wheel_r.speed_set(5)
self._wheel_l.speed_set(-5)
if (self._sensor.getbrightness() == 24):
return True
i = i + 1
return False
def _findedgeonrightside(self, alternatingvalue):
i = 0
while i < alternatingvalue:
self._wheel_l.speed_set(5)
self._wheel_r.speed_set(-5)
if (self._sensor.getbrightness() == 24):
time.sleep(0.05)
while(not (self._sensor.getbrightness() == 24)):
self._wheel_l.speed_set(5)
self._wheel_r.speed_set(-5)
return True
i = i + 1
return False
'''
'''
uses odometry and the planet object to map edges that are connected to
current node.
@ -44,12 +92,16 @@ class Move:
self._wheel_r.speed_set(24)
self._wheel_l.run()
self._wheel_r.run()
while(not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
<<<<<<< HEAD
while (not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
self._wheel_l.speed_set(48 - self._sensor.getbrightness())
self._wheel_r.speed_set(self._sensor.getbrightness())
if(isknownstation == False):
pass #run odometry stuff here
if (not self._bumper.value()):
time.sleep(1)
# self._aligntoedge()
self._wheel_l.stop()
self._wheel_r.stop()