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Fixed Error Message output in sensor.py. Added some more Documentation.

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This commit is contained in:
d3rped 2018-03-19 02:46:25 +01:00
parent 0f1b696a20
commit aca3c3b70f
3 changed files with 28 additions and 24 deletions
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3
src/move.py
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@ -28,6 +28,9 @@ class Move:
'''
uses odometry and the planet object to map edges that are connected to
current node.
Use either relative motor pos or timed driving to center on node.
Next turn around and detect edges through drops in _sensor.getbrightness()
'''
def getstationedges(self):
pass

41
src/planet.py
View file

@ -16,56 +16,57 @@ class Direction(IntEnum):
# simple alias, no magic here
Weight = int
"""
"""
Weight of a given path (received from the server)
value: -1 if broken path
value: -1 if broken path
>0 for all other paths
never 0
"""
class Planet:
"""
Contains the representation of the map and provides certain functions to manipulate it according to the specifications
"""
Contains the representation of the map and provides certain functions to manipulate it according to the specifications
"""
def __init__(self):
""" Initializes the data structure """
self.planetmap = {((0, 0), Direction.NORTH):((0, 1), Direction.SOUTH), "weight":1}
self.target = None
def add_path(self, start: Tuple[Tuple[int, int], Direction], target: Tuple[Tuple[int, int], Direction], weight: int):
"""
Adds a bidirectional path defined between the start and end coordinates to the map and assigns the weight to it
"""
Adds a bidirectional path defined between the start and end coordinates to the map and assigns the weight to it
example:
example:
add_path(((0, 3), Direction.NORTH), ((0, 3), Direction.WEST), 1)
"""
pass
def get_paths(self) -> Dict[Tuple[int, int], Dict[Direction, Tuple[Tuple[int, int], Direction, Weight]]]:
"""
Returns all paths
"""
Returns all paths
example:
get_paths() returns: {
example:
get_paths() returns: {
(0, 3): {
Direction.NORTH: ((0, 3), Direction.WEST, 1),
Direction.EAST: ((1, 3), Direction.WEST, 2)
Direction.NORTH: ((0, 3), Direction.WEST, 1),
Direction.EAST: ((1, 3), Direction.WEST, 2)
},
(1, 3): {
Direction.WEST: ((0, 3), Direction.EAST, 2),
...
},
Direction.WEST: ((0, 3), Direction.EAST, 2),
...
},
...
}
"""
pass
def shortest_path(self, start: Tuple[int, int], target: Tuple[int, int]) -> Optional[List[Tuple[Tuple[int, int], Direction]]]:
"""
Returns a shortest path between two nodes
"""
Returns a shortest path between two nodes
examples:
examples:
shortest_path((0,0), (2,2)) returns: [((0, 0), Direction.EAST), ((1, 0), Direction.NORTH)]
shortest_path((0,0), (1,2)) returns: None
"""

8
src/sensor.py
View file

@ -5,8 +5,8 @@ import ev3dev.ev3 as ev3
'''
add enum for color definitions (type should be tupel of int's).
later onwards compare the idividual readouts like this to determine the color:
RED(>90, <40, <25)
BLUE(<25, >75, >90)
RED = (>90, <40, <25)
BLUE = (<25, >75, >90)
still needs to be tested and implemented
'''
@ -24,13 +24,13 @@ class Sensor:
else:
return False
else:
print("ERROR: incorrect sensor mode:" + self._sensor.mode)
print("ERROR: incorrect sensor mode:", self._sensor.mode)
def getbrightness(self):
if(self._sensor.mode == 'COL-REFLECT'):
return self._sensor.value()
else:
print("ERROR: incorrect sensor mode:" + self._sensor.mode)
print("ERROR: incorrect sensor mode:", self._sensor.mode)
def setmode(self, newmode):
self._sensor.mode = newmode