def __init__(self):
'''
Constructor for new robot. Creates connection to motor-controller, tinkerforge, and creates the necessary sensor-object
'''
#self.__motor = MotorController('/dev/tty.usbmodemfd141')
self.__motor = MotorController('/dev/ttyACM0')
self.__sensors = Sensors()
self.__sensorFront = DistanceSensor('9t7', self.__sensors)
self.__sensorFront.setDistanceCallback(2000, self.cb_sensorFront, '<', 150, 0) # debounce so einstellen, dass Ungenauigkeiten wg. Spannung an der tinkerforge ausgeglichen werden
self.__lastTurn = 'l'
class Robot(object):
def cb_sensorFront(self, param):
'''
Callback-Function for front-sensor. In this we manage not hitting anything.
@param param: given by tinkerforge
'''
# wenn abstannd nach vorne zu kurz?
motorAbreak = self.__motor.getBrakeA()
motorBbreak = self.__motor.getBrakeB()
motorAdirection = self.__motor.getDirectionA()
motorBdirection = self.__motor.getDirectionB()
motorAspeed = self.__motor.getSpeedA()
motorBspeed = self.__motor.getSpeedB()
# pfuefen, ob er ueberhaupt faehrt, und nicht im turn drin ist
if (motorAbreak == '1') or (motorBbreak == '1') or (motorAspeed == '000') or (motorBspeed == '000') or (motorAdirection != motorBdirection):
print 'nothing to do ...'
return
self.__motor.setBrake()
time.sleep(0.5)
if (self.__lastTurn == 'l'):
self.__motor.turn('right', 255)
self.__lastTurn = 'r'
else:
self.__motor.turn('left', 255)
self.__lastTurn = 'l'
self.__motor.setBrake()
while (self.__sensorFront.getDistance() < 300):
time.sleep(0.2)
self.__motor.setBrake()
self.__motor.drive(0, 255)
self.__motor.setBrake()
def __init__(self):
'''
Constructor for new robot. Creates connection to motor-controller, tinkerforge, and creates the necessary sensor-object
'''
#self.__motor = MotorController('/dev/tty.usbmodemfd141')
self.__motor = MotorController('/dev/ttyACM0')
self.__sensors = Sensors()
self.__sensorFront = DistanceSensor('9t7', self.__sensors)
self.__sensorFront.setDistanceCallback(2000, self.cb_sensorFront, '<', 150, 0) # debounce so einstellen, dass Ungenauigkeiten wg. Spannung an der tinkerforge ausgeglichen werden
self.__lastTurn = 'l'
def __del__(self):
'''
Frees the sensors and motor-controller
'''
del self.__sensors
del self.__motor
def getMotor(self):
'''
Returns the motor-controller-object
'''
return self.__motor
def getSensors(self):
'''
Returns the tinkerforge-object
'''
return self.__sensors
def getSensorFront(self):
'''
Returns the front-senssor-object
'''
return self.__sensorFront
def start(self):
'''
Start the robot. makes him drive forward at full-speed
'''
self.__motor.drive(0, 255)
self.__motor.setBrake()
def stop(self):
'''
Stop the robot. Basically, only toggles the brakes.
'''
if (self.__motor.getBrakeA() != '1') or (self.__motor.getBrakeB() != '0'):
self.__motor.setBrake()
else:
self.__motor.drive(0, 0)