90 lines
2.9 KiB
Python
90 lines
2.9 KiB
Python
#!/usr/bin/env python3
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from wheel import Wheel
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from sensor import Sensor
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from odometry import Odometry
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class Move:
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def __init__(self, planet):
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try:
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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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except OSError:
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print("ERROR: Cannot find Motor/Sensor")
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self.maxbrightness = 0
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self.minbrightness = 0
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self.edgebrightness = 0
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self._odometry = Odometry()
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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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self._sensor.calibrateRGB()
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self.calibrateBrightness()
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# pass
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def calibrateBrightness(self):
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i = 0
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self.maxbrightness = self._camera.getbrightness()
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self.minbrightness = self._camera.getbrightness()
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self._wheel_l.speed_set(15)
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self._wheel_r.speed_set(-15)
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self._wheel_r.run()
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self._wheel_l.run()
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tempvalue = 0
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while(i < 500):
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self._camera.refresh()
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tempvalue = self._camera.getbrightness()
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if(tempvalue > self.maxbrightness):
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self.maxbrightness = tempvalue
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if(tempvalue < self.minbrightness):
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self.minbrightness = tempvalue
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i = i + 1
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self._wheel_l.stop()
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self._wheel_r.stop()
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self.edgebrightness = (self.maxbrightness + self.minbrightness)//2
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while(not (self._camera.getbrightness() == self.edgebrightness)):
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self._wheel_l.speed_set(15)
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self._wheel_r.speed_set(-15)
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self._wheel_l.stop()
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self._wheel_r.stop()
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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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Use either relative motor pos or timed driving to center on node.
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Next turn around and detect edges through drops in _sensor.getbrightness()
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'''
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def getstationedges(self):
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self._wheel_l.turnbyamount(500, 250)
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self._wheel_r.turnbyamount(-500, 250)
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def traversetonextstation(self, isknownstation):
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self._wheel_l.speed_set(self.edgebrightness//2)
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self._wheel_r.speed_set(self.edgebrightness//2)
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self._wheel_l.run()
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self._wheel_r.run()
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while (not self._sensor.bumperispressed() and self._sensor.lastcolor == None):
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self._camera.refresh()
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self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2)
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self._wheel_r.speed_set(self._sensor.getbrightness()//2)
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self._sensor.getcolor()
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if(not isknownstation):
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print(self._odometry.degree(self._wheel_l.getmovement(), self._wheel_r.getmovement(), 0))
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self._wheel_l.stop()
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self._wheel_r.stop()
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