derped/robolab
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Applied commit: a540201

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haselnussbier 2018-03-24 17:35:40 +01:00 committed by d3rped
parent 678c94532e
commit 78ce8da918
2 changed files with 16 additions and 7 deletions
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7
src/move.py
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@ -87,13 +87,16 @@ class Move:
self._wheel_r.speed_set(self._sensor.edgebrightness//2) self._wheel_r.speed_set(self._sensor.edgebrightness//2)
self._wheel_l.run() self._wheel_l.run()
self._wheel_r.run() self._wheel_r.run()
while (not self._sensor.bumperwaspressed and self._sensor.lastcolor is None): while (not self._sensor.bumperwaspressed):
self._sensor.refresh() self._sensor.refresh()
self._sensor.checkbumper() self._sensor.checkbumper()
self._sensor.getcolor()
if (not (self._sensor.lastcolor is None)):
break
self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed) self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed) self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
self._sensor.getcolor()
if(not isknownstation): if(not isknownstation):
self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement())) self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
# if() bumper or color
self._wheel_l.stop() self._wheel_l.stop()
self._wheel_r.stop() self._wheel_r.stop()

16
src/sensor.py
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@ -24,8 +24,8 @@ Y=(0.299 x R) + (0.587 x G) + (0.114 x B);
class Color(tuple, Enum): class Color(tuple, Enum):
RED = (85, 40, 25) RED = (65, 30, 20)
BLUE = (25, 70, 85) BLUE = (20, 45, 60)
class Sensor: class Sensor:
@ -43,7 +43,7 @@ class Sensor:
self.lastcolor = None self.lastcolor = None
self.edgebrightness = None self.edgebrightness = None
def refresh(self): # do we still want to check if the propper camera/sensor mode is set? def refresh(self):
self.RGB = self._camera.bin_data("hhh") self.RGB = self._camera.bin_data("hhh")
self._brightness = self._camera.value() self._brightness = self._camera.value()
@ -69,5 +69,11 @@ class Sensor:
if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])): if(self.RGB[0] < Color.BLUE[0] and (self.RGB[1], self.RGB[2]) > (Color.BLUE[1], Color.BLUE[2])):
self.lastcolor = Color.BLUE self.lastcolor = Color.BLUE
def calibrateRGB(self): def calibrateRGB(self, color):
pass self.refresh()
if (color is Color.RED):
newRED = (self.RGB[0]-5, self.RGB[1]+5, self.RGB[2]+5)
Color.RED = newRED
elif (color is Color.BLUE):
newBLUE = (self.RGB[0]+5, self.RGB[1]-5, self.RGB[2]-5)
Color.BLUE = newBLUE