Commented out prototype functions.

This commit is contained in:
haselnussbier 2018-03-21 14:54:24 +01:00 committed by d3rped
parent 23ddc2c24a
commit 74e78cf2ee

View file

@ -3,6 +3,7 @@
import ev3dev.ev3 as ev3 import ev3dev.ev3 as ev3
from wheel import Wheel from wheel import Wheel
from sensor import Sensor from sensor import Sensor
import time
class Move: class Move:
@ -25,9 +26,56 @@ class Move:
''' '''
Function to correct errors should the robot wander astray Function to correct errors should the robot wander astray
''' '''
# Probably redundant because aligning can be done while scanning other paths
def _aligntoedge(self): 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 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 uses odometry and the planet object to map edges that are connected to
current node. current node.
@ -44,12 +92,16 @@ class Move:
self._wheel_r.speed_set(24) self._wheel_r.speed_set(24)
self._wheel_l.run() self._wheel_l.run()
self._wheel_r.run() self._wheel_r.run()
<<<<<<< HEAD
while (not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())): while (not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
self._wheel_l.speed_set(48 - self._sensor.getbrightness()) self._wheel_l.speed_set(48 - self._sensor.getbrightness())
self._wheel_r.speed_set(self._sensor.getbrightness()) self._wheel_r.speed_set(self._sensor.getbrightness())
if(isknownstation == False): if(isknownstation == False):
pass #run odometry stuff here pass #run odometry stuff here
if (not self._bumper.value()):
time.sleep(1)
# self._aligntoedge()
self._wheel_l.stop() self._wheel_l.stop()
self._wheel_r.stop() self._wheel_r.stop()