#else:
# motors.backDrift(-getPID)
# #TODO: Implement omni drive and Omni PID
# print "turning left", getPID
# time.sleep(.1)
#listOfErrors.append(getPID)
#for error in listOfErrors:
# print error
return listOfErrors
if __name__ == "__main__":
# Create class instances for the robot's various devices
#cv.NamedWindow("image")
ard = arduino.Arduino()
motors = omni.Omni(ard)
light=light.masterLight(ard)
startSwitch = arduino.DigitalInput(ard, 11) # this is not being used for now
gate = servo.Servo(ard)
irSensors = ir.wallDetector(ard)
backBumper=bumper.Bumper(ard)
ballDetect = ballDetector.BallDetector(ard)
_roller = roller.Roller(ard)
# Run the arduino, power up systems
ard.run()
light.powerOn()
gate.closeGate()
# wait until the start button is pressed
# left bumper starts Red, green bumper starts Green
isGreen = False
# program for testing wall-following behavior
# import useful modules
import time, math, threading
# import vision things
#import cv, walls, balls, rectangulate
# import our modules for controlling the robot devices
import arduino, roller, bumper, ballDetector, omni, light, servo, ir
if __name__ == "__main__":
# Create class instances
ard = arduino.Arduino()
driveSystem = omni.Omni(ard)
blinkies = light.masterLight(ard)
startSwitch = ballDetector.switch(ard, 11)
gateServo = servo.Servo(ard)
irSensors = ir.wallDetector(ard)
bumperSensors = bumper.Bumper(ard)
intakeRoller = roller.Roller(ard)
# Run the arduino, power up systems
ard.run()
time.sleep(0.25) # wait for the pins to initialize
blinkies.powerOn() # power on the debug lights
# wait until the start button is pressed
while startSwitch.getValue() != True:
time.sleep(0.1)
