def turn(count):
direction = False
if count == 1: #우회전
direction = True
elif count == 0:
return 0
time.sleep(0.2)
car.engine(direction, not direction, 35, 38) # 39, 39)
time.sleep(0.5)
timer = 0
while not (trackingModule.navigator() & 4):
car.engine(direction, not direction, 35, 38) # 39, 39)
time.sleep(0.05)
#timer+=1
#if timer==6000:
#car.engine(direction, not direction,55,55)
#time.sleep(0.1)
#timer=0
car.engine(True, True, 0, 0)
time.sleep(0.3)
while not (trackingModule.navigator() & 4):
car.engine(not direction, direction, 35, 38) #39, 39)
time.sleep(0.0075)
car.engine(True, True, 0, 0)
time.sleep(0.3)
def turn(count):
direction = False
if count == 1: #우회전
direction = True
elif count == 0:
return 0
time.sleep(0.5)
car.engine(direction, not direction, 36, 39)
time.sleep(0.3)
while not (trackingModule.navigator() & 4):
car.engine(direction, not direction, 36, 39)
time.sleep(0.001)
car.engine(True, True, 0, 0)
time.sleep(0.3)
while not (trackingModule.navigator() & 4):
car.engine(not direction, direction, 36, 39)
time.sleep(0.0001)
car.engine(True, True, 0, 0)
time.sleep(0.3)
def turn(count):
#time.sleep(0.5)
########
direction = False
if count == 1: #우회전
direction = True
time.sleep(0.5)
while not (trackingModule.navigator() & 4):
car.engine(direction, not direction, 36, 39)
time.sleep(0.001)
car.engine(True, True, 0, 0)
time.sleep(0.5)
while not (trackingModule.navigator() & 4):
car.engine(not direction, direction, 36, 39)
time.sleep(0.0001)
car.engine(True, True, 0, 0)
time.sleep(0.5)
########
'''while count!=0:
def lineTracking(speed):
'''선을 따라 주행 comment 입력 필요
r은 내부 l는 외부주행
내부 주행 외부 주행은 서로 요구하는 led방향이 반대
reverse 여부는 바퀴 출력 순서 반대
평가 요구사함
바깥은 좌회전으로
내부는 우회전으로
즉 서로 led와 바퀴 출력 순서가 반대
둘다 안들어온다면 지그재그 주행
'''
bit = trackingModule.navigator()
print(bit)
if bit == 0 or bit == 1 or bit == 3 or bit == 24 or bit == 16:
stop()
sleep(0.1)
whereToBack = True
if trackingModule.getBeforeBit() > 6:
whereToBack = False
#trackingModule.navigator()
point_turn(whereToBack, speed)
print(whereToBack)
counter = 0
#trackingModule.navigator()
while not trackingModule.bit4():
counter += 1
print(counter)
if counter % 1500 == 0:
point_turn(whereToBack, speed)
elif counter > 60000:
car.engine(True, True, speed, speed)
counter = 0
stop()
sleep(0.1)
car.engine(True, True, speed, speed)
#trackingModule.navigator()
return True
def lineTracking(direction):
'''선을 따라 주행 comment 입력 필요
r은 내부 l는 외부주행
내부 주행 외부 주행은 서로 요구하는 led방향이 반대
reverse 여부는 바퀴 출력 순서 반대
평가 요구사함
바깥은 좌회전으로
내부는 우회전으로
즉 서로 led와 바퀴 출력 순서가 반대
둘다 안들어온다면 지그재그 주행
'''
lSpeed = 30
rSpeed = 30
bit = trackingModule.navigator()
print(bit)
if direction == 'l':
#바깥주행
if bit == 3 or bit < 2:
car.engine(False, True, lSpeed, rSpeed)
count = 0
while not trackingModule.bit2():
count += 1
print(count)
#차의 성능이 아니라 컴퓨터의 성능에 따라 갈리기 때문에 좋은 파트는 아닌듯
if count % 1300 == 0:
car.engine(False, True, lSpeed + 10,
rSpeed) #배터리 딸려서 턴 제대로 안되면
elif count > 60000:
car.engine(True, True, lSpeed, rSpeed)
sleep(0.01)
count = 0
pass
stop()
sleep(0.1)
car.engine(True, True, lSpeed, rSpeed + 5)
elif bit == 8 or bit > 15:
car.engine(True, False, lSpeed, rSpeed)
count = 0
while not (trackingModule.bit4()):
count += 1
print(count)
if count % 3000 == 0:
car.engine(True, False, lSpeed.rSpeed) ##
if count > 60000:
car.engine(True, True, lSpeed, rSpeed) ##
sleep(0.01)
count = 0
pass
stop()
sleep(0.1)
car.engine(True, True, lSpeed, rSpeed + 5)
elif direction == 'r':
#안쪽 주행
if bit == 24 or bit == 16 or bit == 0:
car.engine(True, False, lSpeed, rSpeed)
count = 0
while not trackingModule.bit8():
count += 1
print(count)
if count % 1400 == 0:
car.engine(True, False, lSpeed, rSpeed)
elif count > 60000:
car.engine(True, True, lSpeed, rSpeed)
sleep(0.01)
count = 0
pass
stop()
sleep(0.1) #해줘야 딱 특정 비트에 닿았을 때 라는 컨디션을 조절 가능
car.engine(True, True, lSpeed + 2, rSpeed)
elif 1 <= bit <= 3:
car.engine(False, True, lSpeed, rSpeed)
count = 0
while not (trackingModule.bit4()):
count += 1
print(count)
if count % 3000 == 0:
car.engine(False, True, lSpeed, rSpeed)
elif count > 60000:
car.engine(True, True, lSpeed, rSpeed)
sleep(0.01)
count = 0
pass
stop()
sleep(0.1)
car.engine(True, True, lSpeed + 2, rSpeed)
return True