From 36ac59608b2c3ffcb78d12964870f2f64bd99a59 Mon Sep 17 00:00:00 2001
From: Sara Falcone <sara.falcone@cba.mit.edu>
Date: Mon, 3 Dec 2018 18:33:23 -0500
Subject: [PATCH] color updates, function updates
---
run-solleroot.py | 96 ++++++++++++++++++++++++++++--------------------
1 file changed, 56 insertions(+), 40 deletions(-)
diff --git a/run-solleroot.py b/run-solleroot.py
index 3185587..d55001b 100644
--- a/run-solleroot.py
+++ b/run-solleroot.py
@@ -19,9 +19,10 @@ DATA_TYPE_TOUCH = 17
DATA_TYPE_CLIFF = 20
# color classifications
-color_black = [17, 68]
-color_red = [34]
-color_green = [51]
+color_black = [17, 68, 65, 20, 49, 67, 52]
+color_red = [34, 2, 32]
+color_green = [51, 48, 3]
+color_blue = [4, 64, 68]
class BluetoothDeviceManager(gatt.DeviceManager):
robot = None # root robot device
@@ -41,6 +42,7 @@ class RootDevice(gatt.Device):
# "message" allows last sensor readings to be stored in the robot object for each robot
message = "no message yet"
+ last_packet = []
def print_message(self):
print(self.message)
@@ -88,7 +90,12 @@ class RootDevice(gatt.Device):
if new_data[0] == DATA_TYPE_CLIFF: type = "Cliff Sensor"
# print("{}: {}".format(type, new_data))
+## # save to object for future use
+## self.last_packet = new_data
+## print("{}: {}".format(type, self.last_packet))
+
# Perimeter detect, then other color functions
+ # check if you're at the perimeter every time there is new color data
if new_data[0] == DATA_TYPE_COLOR_SENSOR:
print("new data - calling perimeter")
did_adjust = self.adjust_for_perimeter_if_needed(new_data)
@@ -101,54 +108,63 @@ class RootDevice(gatt.Device):
self.pattern_dashes(new_data)
def adjust_for_perimeter_if_needed(self, message):
- # Check to see if you're at perimeter! If you are, turn and update your state
+ # Check to see if you're at perimeter!
+ # If you are, turn and update your state
print("IN ADJUST PERIMETER")
+ print("{}: {}".format(type, message))
+
n = 0
- for i in range(3,5):
+ if all(message) in color_black:
+ drive_backwards()
+ adjusted = True
+ return adjusted
+ for i in range(3,7):
if message[i] in color_black:
n += 1
- if n > 1:
- self.turn_rate(-45)
+ if n > 3:
+ self.turn_rate(-90)
+ self.drive_forward()
adjusted = True
- else:
- adjusted = False
+ return adjusted
n = 0
- for i in range(16,18):
+ for i in range(14,18):
if message[i] in color_black:
n += 1
- if n > 1:
- self.turn_rate(45)
+ if n > 3:
+ self.turn_rate(90)
+ self.drive_forward()
adjusted = True
- else:
- adjusted = False
+ return adjusted
return adjusted
def pattern_dashes(self, message):
print("IN PATTERN DASHES")
- #pen down, pen up, so many times...
- count = 0
- while count < 3: # number of lines robot will draw
- print(count)
- t0 = time.time() #FIX TIME
- t1 = time.time()
- delta_t = t1 - t0
- print(delta_t)
-
- self.pen_down()
- self.drive_forward()
- while delta_t < 5000: # ms pen down
- self.drive_forward()
- t1 = time.time()
- delta_t = t1 - t0
- t0 = time.time()
- print(count)
- self.pen_up()
- while delta_t < 3000: # ms pen up
- t1 = time.time()
- delta_t = t1 - t0
- count += 1
- self.pen_up()
- self.patterning_lines_enabled = False
+ self.drive_forward()
+
+## #pen down, pen up, so many times...
+## count = 0
+## while count < 3: # number of lines robot will draw
+## print(count)
+## t0 = time.time() #FIX TIME
+## t1 = time.time()
+## delta_t = t1 - t0
+## print(delta_t)
+##
+## self.pen_down()
+## self.drive_forward()
+## while delta_t < 5000: # ms pen down
+## self.drive_forward()
+## t1 = time.time()
+## delta_t = t1 - t0
+## t0 = time.time()
+## print(count)
+## self.pen_up()
+## while delta_t < 3000: # ms pen up
+## t1 = time.time()
+## delta_t = t1 - t0
+## count += 1
+## self.pen_up()
+## self.patterning_lines_enabled = False
def follow_edge(self, message):
@@ -273,6 +289,7 @@ def drive_root(command):
if command == "edge":
print ("edge")
manager.robot.edge_following_enabled = True
+ # manager.robot. #send last packet to function so the robot moves
if command == "pattern lines":
print ("pattern lines")
manager.robot.patterning_lines_enabled = True
@@ -291,9 +308,8 @@ if __name__ == "__main__":
print("Press letter (f,b,l,r) to drive robot (t) to turn, (s) to stop, (u or d) raise pen up or down, (q) to quit")
while char != "q":
char = input() # wait for keyboard input
- print('predrive')
+ print('waiting for keyboard input')
drive_root(char)
- manager.robot.print_message()
print('yay!')
print("Quitting")
manager.stop()
--
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