def __init__(self, debugMode = False):
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
if debugMode:
level = logging.DEBUG
else:
level = logging.CRITICAL
logging.basicConfig(stream=sys.stderr, level=level)
self.motor = Motor(GPIO, logging)
self.panandtilt = PanAndTilt(logging)
self.distance = Distance(GPIO, logging)
self.MoveDirectionsOptions = {
'fwd': self.motor.forward,
'stp': self.motor.stop,
'lft': self.motor.leftTurn,
'rgt': self.motor.rightTurn,
'bwd': self.motor.backward,
'lfm': self.motor.left,
'rgm': self.motor.right,
}
self.LookDirectionsOptions = {
'fnt': self.panandtilt.front,
'lft': self.panandtilt.left,
'rgt': self.panandtilt.right,
'up': self.panandtilt.up,
'dwn': self.panandtilt.down,
}
class Robot:
"""A class to control the Robot. This class use all the other classes"""
MoveTime = 0.1
Speed = 50
def __init__(self, debugMode = False):
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
if debugMode:
level = logging.DEBUG
else:
level = logging.CRITICAL
logging.basicConfig(stream=sys.stderr, level=level)
self.motor = Motor(GPIO, logging)
self.panandtilt = PanAndTilt(logging)
self.distance = Distance(GPIO, logging)
self.MoveDirectionsOptions = {
'fwd': self.motor.forward,
'stp': self.motor.stop,
'lft': self.motor.leftTurn,
'rgt': self.motor.rightTurn,
'bwd': self.motor.backward,
'lfm': self.motor.left,
'rgm': self.motor.right,
}
self.LookDirectionsOptions = {
'fnt': self.panandtilt.front,
'lft': self.panandtilt.left,
'rgt': self.panandtilt.right,
'up': self.panandtilt.up,
'dwn': self.panandtilt.down,
}
def lookTo(self, anglex, angley):
self.panandtilt.pan(anglex)
self.panandtilt.tilt(angley)
def look(self, direction):
self.LookDirectionsOptions[direction]()
def move(self, direction, speed=Speed, moveTime=MoveTime):
if direction == 'stp':
logging.debug("Stopping the Robot")
self.motor.stop()
else:
if speed == None:
speed = self.Speed
logging.debug("Moving %s with speed %d for %f seconds", direction, speed, moveTime)
self.MoveDirectionsOptions[direction](speed)
sleep(moveTime)
def whereToMove(self):
self.look('lft')
distance_lft = self.distance.getDistance()
logging.debug("Left distance: %d", distance_lft)
self.look('rgt')
distance_rgt = self.distance.getDistance()
logging.debug("Right distance: %d", distance_rgt)
if distance_rgt < distance_lft:
logging.debug("Going to Right")
return 'rgm'
else:
logging.debug("Going to Right")
return 'lfm'
def start(self):
self.on = True
self.look('fnt')
while self.on:
distance = self.distance.getDistance()
logging.debug("Distance: %d", distance)
# If there is no object in less than 30 cm ahead
if distance < 50:
self.move('stp')
direction = self.whereToMove()
self.look('fnt')
self.move(direction, 40, 0.5)
self.motor.stop()
else:
self.move('fwd')
def stop(self):
self.on = False
def finish(self):
GPIO.cleanup()