50 lines
1.4 KiB
Python
50 lines
1.4 KiB
Python
#!/usr/bin/env python3
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import ev3dev.ev3 as ev3
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from wheel import Wheel
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from sensor import Sensor
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class Move:
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def __init__(self, planet):
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self._wheel_l = Wheel('outB')
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self._wheel_r = Wheel('outC')
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self._sensor = Sensor()
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self._bumper = ev3.TouchSensor()
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'''
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determine maximum and minimum brightness of lines/white space
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depending on environment lighting
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'''
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def _calibrate(self):
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pass
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'''
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Function to correct errors should the robot wander astray
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'''
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def _aligntoedge(self):
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pass
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'''
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uses odometry and the planet object to map edges that are connected to
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current node.
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'''
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def getstationedges(self):
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pass
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def traversetonextstation(self, isknownstation):
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self._wheel_l.speed_set = 24
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self._wheel_r.speed_set = 24
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self._wheel_l.run()
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self._wheel_r.run()
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while(self._bumper.value() == False):
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# this does not work... why?
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# self._wheel_l.speed_set(newspeed)
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# self._wheel_r.speed_set(newspeed)
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self._wheel_l._motor.duty_cycle_sp = 48 - self._sensor.getbrightness()
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self._wheel_r._motor.duty_cycle_sp = self._sensor.getbrightness()
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if(isknownstation == False):
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pass #run odometry stuff here
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self._wheel_l.stop()
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self._wheel_r.stop()
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