diff --git a/run-solleroot.py b/run-solleroot.py
index 76d56168bb41c5f689e23f0c12d5b5e934375c2b..b509bc78caec52044008e37d618dd1b015c1d933 100644
--- a/run-solleroot.py
+++ b/run-solleroot.py
@@ -1,7 +1,7 @@
# python3
import gatt
import threading
-import time
+##import time
# BLE UUID's
root_identifier_uuid = '48c5d828-ac2a-442d-97a3-0c9822b04979'
@@ -17,10 +17,14 @@ DATA_TYPE_TOUCH = 17
DATA_TYPE_CLIFF = 20
# color classifications
-color_black = [17, 68, 65, 20, 49, 67, 52]
-color_red = [34, 2, 32]
+color_black = [17, 68, 65, 20, 49, 67, 52, 16, 1]
+color_red = [34, 2, 32, 33, 18]
color_green = [51, 48, 3]
color_blue = [4, 64, 68]
+
+# uncategorized
+# color_white = [0,
+# 33, 18
class BluetoothDeviceManager(gatt.DeviceManager):
robot = None # root robot device
@@ -110,17 +114,12 @@ class RootDevice(gatt.Device):
if type == "Color Sensor" and self.edge_following_enabled:
print("new data - calling edge following")
self.follow_edge(new_data)
-## elif type == "Color Sensor" and self.patterning_lines_enabled:
-## print("new data - calling patterning")
-## self.dash_count(self.dash_count)
-## 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
- print("IN ADJUST PERIMETER")
- print("{}: {}".format(type, message))
+## print("IN ADJUST PERIMETER")
+## print("{}: {}".format(type, message))
n = 0
for i in range(3,18):
@@ -131,7 +130,7 @@ class RootDevice(gatt.Device):
self.drive_forward()
return
if not self.currently_adjusting_for_perimeter:
- self.pen_up()
+## self.pen_up()
self.currently_adjusting_for_perimeter = True
if n > 13: #number of sensors read the color
@@ -156,12 +155,9 @@ class RootDevice(gatt.Device):
return
def do_dash_movement(self):
- print('doin it')
threading.Timer(1.0, self.do_dash_movement).start()
# if self.total_dash_count >= MAX_TOTAL_DASHES:
# return
- if self.currently_adjusting_for_perimeter:
- return
if(self.dash_count % 2 == 0):
print("pen-down, driving")
self.pen_down()
@@ -174,44 +170,36 @@ class RootDevice(gatt.Device):
def follow_edge(self, message):
print("IN FOLLOW EDGE")
- if message[3] != 0 or message[4] != 0:
- #drive_root("l")
- self.turn_rate(-45)
- #manager.robot.drive_left_slow()
- #drive_root("z")
- turn_state = 1
- elif message[5] != 0 or message[6] != 0:
- #drive_root("l")
- self.turn_rate(-30)
- #manager.robot.drive_left_slow_slow()
- #drive_root("x")
- turn_state = 1
- #drive_root("f")
- #print("test1")
- elif message[7] != 0 or message[8] != 0:
- #drive_root("f") # calling the member function versus out into global space
- self.drive_forward()
- elif message[9] != 0 or message[10] != 0:
- self.turn_rate(30)
+
+ n = 0
+ for i in range(9,12)
+ if message[i] in color_black:
+ n += 1
+ if n > 1
+ self.drive_forward:
+ return
- elif message[12] != 0 or message[11] != 0:
- self.turn_rate(45)
- elif message[14] != 0 or message[13] != 0:
- #drive_root("r")
- self.turn_rate(60)
- #manager.robot.drive_right_slow_slow()
- #drive_root("c")
- turn_state = 2
- #drive_root("f")
- #print("test2")
- elif message[16] != 0 or message[15] != 0:
- #drive_root("r")
- self.turn_rate(60)
- #manager.robot.drive_right_slow()
- #drive_root("v")
- turn_state = 2
- else:
- self.drive_forward()
+ left_n = 0
+ for i in range(3,8):
+ if message[i] in color_black:
+ left_n += 1
+ right_n = 0
+ for i in range(13,18):
+ if message[i] in color_black:
+ right_n += 1
+ if left_n > 21 and right_n > 1:
+ self.drive_forward()
+ return
+ if left_n > 1:
+ self.steer(70,10)
+ print("steering left")
+ return
+ if right_n > 1:
+ self.steer(10,70)
+ print("steering right")
+ return
+ self.drive_forward()
+
def drive_forward(self):
self.tx_characteristic.write_value([0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD1])
@@ -296,7 +284,7 @@ def drive_root(command):
if command == "edge":
print ("edge")
manager.robot.edge_following_enabled = True
- manager.robot.follow_edge(manager.robot.last_packet)
+ manager.robot.drive_forward()
if command == "pattern lines":
print ("pattern lines")
manager.robot.drive_forward()
diff --git a/time-test.py b/time-test.py
index 6659ea69a35a84989b073d66dca35f6fb0e56a5e..8c179a7aba1d6ff844747ef9ad153e6578b635fa 100644
--- a/time-test.py
+++ b/time-test.py
@@ -1,5 +1,21 @@
import time
+import threading
+sara_is_pedantic = 0
+
+def printit():
+ threading.Timer(2.0, printit).start()
+ print("Hello, World! {}".format(sara_is_pedantic))
+ global sara_is_pedantic
+ sara_is_pedantic +=1
+ if sara_is_pedantic == 4:
+ print("OUR WORK HERE SHOULD BE DONE?")
+ return
+
+def printit_2():
+ threading.Timer(5.0, printit_2).start()
+ print("Hello, World! 5")
+
def delay(func, time):
t_end = time.time() + time
while time.time() < t_end:
@@ -13,9 +29,9 @@ def func(self):
if __name__ == "__main__":
print("in main")
length = 3
- delay(func, length)
+## delay(func, length)
+ printit()
+## printit_2()
- # testing passing a function into a function
- # so dalay function can be used to stop drive robot commands
\ No newline at end of file