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Split up communication update method to get better odometry handling. Implemented rudimentary blocked path handling. Some more work ok main loop and communication/map handling.

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d3rped 2018-03-26 07:05:55 +02:00
parent c479954960
commit aa6b049ce5
4 changed files with 50 additions and 20 deletions
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10
src/main.py
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@ -25,7 +25,10 @@ def run():
communication.process_messages()
# run first time not in loop because odometry data is not relevant
communication.update(None, move.getstationedges()) # TODO: Register in map
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])
@ -43,7 +46,10 @@ def run():
move.turnto(instructions[1])
move.traversetonextstation(True)
communication.update(move.getstats(), move.getstationedges()) # TODO: Register in map
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])