77 lines
2.2 KiB
Python
77 lines
2.2 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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def capat100(value):
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if(value > 100):
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return 100
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elif(value < -100):
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return -100
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else:
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return value
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class Move:
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def __init__(self):
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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.defaultspeed = 20
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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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'''
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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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pass
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def turnto(self, direction):
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turnval = self._odometry.dir2ticks(direction)
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self._wheel_l.turnbyamount(turnval, self.defaultspeed)
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self._wheel_r.turnbyamount(-turnval, self.defaultspeed)
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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.bumperwaspressed and self._sensor.lastcolor is None):
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self._sensor.refresh()
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self._sensor.checkbumper()
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self._wheel_l.speed_set(capat100(self.maxbrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
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self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self.maxbrightness/2)+self.defaultspeed)
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self._sensor.getcolor()
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if(not isknownstation):
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self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
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self._wheel_l.stop()
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self._wheel_r.stop()
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