From 3a2db5aeff656283b41ea429d32b5ba127f9b3b9 Mon Sep 17 00:00:00 2001
From: Sara Falcone <sara.falcone@cba.mit.edu>
Date: Sat, 8 Dec 2018 14:36:24 -0500
Subject: [PATCH] fixed perimeter!
---
run-solleroot.py | 119 ++++++++++++++++++++++++++---------------------
time-test.py | 21 +++++++++
2 files changed, 86 insertions(+), 54 deletions(-)
create mode 100644 time-test.py
diff --git a/run-solleroot.py b/run-solleroot.py
index 413251f..c68c0ee 100644
--- a/run-solleroot.py
+++ b/run-solleroot.py
@@ -33,13 +33,19 @@ class BluetoothDeviceManager(gatt.DeviceManager):
self.robot.connect()
class RootDevice(gatt.Device):
- # states for our robot primatives
- edge_following_enabled = False
- patterning_lines_enabled = False
+ def __init__(self, mac_address, manager, managed=True):
+ gatt.Device.__init__(self, mac_address, manager, managed=True)
+
+ # states for our robot primatives
+ self.currently_adjusting_for_perimeter = False
+ self.edge_following_enabled = False
+ self.patterning_lines_enabled = False
+
+ # variables in robot object for each robot
+ self.message = "no message yet"
+ self.last_packet = []
+ self.dash_count = 0
- # "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)
@@ -85,14 +91,11 @@ class RootDevice(gatt.Device):
if new_data[0] == DATA_TYPE_LIGHT: type = "Light Sensor"
if new_data[0] == DATA_TYPE_TOUCH: type = "Touch Sensor"
if new_data[0] == DATA_TYPE_CLIFF: type = "Cliff Sensor"
- print("{}: {}".format(type, new_data))
+## print("{}: {}".format(type, new_data))
## #attempt to back out of cliff even
## if new_data[0] == DATA_TYPE_CLIFF:
-## t_end = time.time() + 2
-## while time.time() < t_end:
-## self.drive_backwards()
-## self.stop()
+## self.drive_backwards()
## print("end cliff event")
# Perimeter detect, then other color functions
@@ -100,76 +103,82 @@ class RootDevice(gatt.Device):
if new_data[0] == DATA_TYPE_COLOR_SENSOR:
# save COLOR INFO to object for future use
self.last_packet = new_data
- did_adjust = self.adjust_for_perimeter_if_needed(new_data)
-## if did_adjust:
-## return
- if type == "Color Sensor" and self.edge_following_enabled:
- print("new data - calling edge following")
- self.follow_edge(new_data)
- if type == "Color Sensor" and self.patterning_lines_enabled:
- self.pattern_dashes(new_data)
-
+ self.adjust_for_perimeter_if_needed(new_data)
+
+## if type == "Color Sensor" and self.edge_following_enabled:
+## print("new data - calling edge following")
+## self.follow_edge(new_data)
+## if type == "Color Sensor" and self.patterning_lines_enabled:
+## self.pattern_dashes(new_data, self.dash_count)
+
+
def adjust_for_perimeter_if_needed(self, message):
# Check to see if you're at perimeter!
# If you are, turn and update your state
print("IN ADJUST PERIMETER")
print("{}: {}".format(type, message))
- # THERE ARE DRIVE LEFT AND DRIVE RIGHT COMMANDS!
- if all(message) in color_red:
+ n = 0
+ for i in range(3,18):
+ if message[i] in color_red:
+ n += 1
+ print("all - red", n)
+ if n > 13: #number of sensors read the color
print("in all colors are red")
- t_end = time.time() + 3
- while time.time() < t_end:
- drive_backwards()
- self.stop()
- time.sleep(1)
+ self.drive_backwards()
+ self.currently_adjusting_for_perimeter = True
+ return
n = 0
for i in range(3,8):
if message[i] in color_red:
n += 1
- if n > 3:
- t_end = time.time() + 3
- while time.time() < t_end:
- self.steer(60,20)
- self.stop()
- time.sleep(1)
+ print("all - left", n)
+ if n > 3:
+ self.steer(90,10)
+ self.currently_adjusting_for_perimeter = True
+ print("steering left")
+ return
n = 0
for i in range(13,18):
if message[i] in color_red:
n += 1
- if n > 3:
- t_end = time.time() + 3
- while time.time() < t_end:
- self.steer(20,60)
- self.stop()
- time.sleep(1)
-
+ print("all - right", n)
+ if n > 3:
+ print("in n > 3")
+ self.steer(10,90)
+ self.currently_adjusting_for_perimeter = True
+ print("steering right")
+ return
+ print("OUT OF LOOP")
+ if self.currently_adjusting_for_perimeter:
+ self.currently_adjusting_for_perimeter = False
+## self.stop()
+ self.drive_forward()
+ return
- def pattern_dashes(self, message):
+ def pattern_dashes(self, message, count):
# pen down, pen up, so many times
- print("IN PATTERN DASHES")
- count = 0
+ print("count:", count)
+ num_dashes_wanted = 4
- while count < 3: # number of lines robot will draw
+ if count < num_dashes_wanted:
self.pen_down()
- t_end = time.time() + 5
+ t_end = time.time() + 2
while time.time() < t_end:
self.drive_forward()
self.stop()
- time.sleep(1)
print("pen-down, driving")
self.pen_up()
- t_end = time.time() + 5
+ t_end = time.time() + 2
while time.time() < t_end:
self.drive_forward()
self.stop()
- time.sleep(1)
print("pen up, drive forward")
- count += 1
- print("out of loop!")
- self.stop()
-
- self.patterning_lines_enabled = False
+ self.stop()
+ else:
+ self.patterning_lines_enabled = False
+
+ self.dash_count += self.dash_count
def follow_edge(self, message):
@@ -299,8 +308,10 @@ def drive_root(command):
manager.robot.follow_edge(last_packet)
if command == "pattern lines":
print ("pattern lines")
+ manager.robot.last_packet = 0
+ dash_count = manager.robot.last_packet
manager.robot.patterning_lines_enabled = True
- manager.robot.pattern_dashes(last_packet)
+ manager.robot.pattern_dashes(last_packet, dash_count)
# start here if run as program / not imported as module
diff --git a/time-test.py b/time-test.py
new file mode 100644
index 0000000..6659ea6
--- /dev/null
+++ b/time-test.py
@@ -0,0 +1,21 @@
+import time
+
+def delay(func, time):
+ t_end = time.time() + time
+ while time.time() < t_end:
+ self.func()
+ print("OUT OF LOOP")
+
+def func(self):
+ print("in LOOP")
+
+
+if __name__ == "__main__":
+ print("in main")
+ length = 3
+ delay(func, length)
+
+
+ # testing passing a function into a function
+ # so dalay function can be used to stop drive robot commands
+
\ No newline at end of file
--
GitLab