class Sense():
def __init__(self):
config = configparser.ConfigParser()
config.read("config.ini")
trigger = config.getint("ultrasonic", "Trigger")
echo = config.getint("ultrasonic", "Echo")
servoNum = config.getint("steering", "servoNum")
InitPosition = config.getint("steering", "InitPosition")
minPosition = config.getint("steering", "MinPosition")
maxPosition = config.getint("steering", "maxPosition")
speed = config.getint("steering", "speed")
self.IN_1 = config.getint("car", "IN1")
self.IN_2 = config.getint("car", "IN2")
self.IN_3 = config.getint("car", "IN3")
self.IN_4 = config.getint("car", "IN4")
self.Sonic = Ultrasonic(trigger, echo)
self.Servo = Steering(servoNum, InitPosition, minPosition, maxPosition,
speed)
self.motor = Motor(self.IN_1, self.IN_2, self.IN_3, self.IN_4)
#get obstacles type
def detection(self):
distance = self.ask_distance()
#NO Obstacles or 35cm safe distance type 0
if distance >= 30:
return "Fgo"
#Obstacles ahead
#self.Infrared.check_distance() == "Warning"
else:
l_d = self.ask_distance_l()
r_d = self.ask_distance_r()
#Obstacles ahead&&right =safe type a
if ((l_d >= 30) and (r_d >= 30)):
if (l_d > r_d):
return "Lgo"
else:
return "Rgo"
#Obstacles ahead&&right R>L type b
elif ((l_d <= 30) and (r_d > 30)):
return "Rgo"
#Obstacles ahead&&right L>R type c
elif ((l_d > 30) and (r_d <= 30)):
return "Lgo"
#Obstacles ahead&&right L&R<safe type d
elif ((l_d < 30) and (r_d < 30)):
return "Bgo"
def ask_distance(self):
self.Servo.reset()
return self.Sonic.get_distance()
def ask_distance_l(self):
self.motor.stop()
self.Servo.turnleft()
time.sleep(0.1)
distance = self.Sonic.get_distance()
self.Servo.reset()
return distance
def ask_distance_r(self):
self.motor.stop()
self.Servo.turnright()
time.sleep(0.1)
distance = self.Sonic.get_distance()
self.Servo.reset()
return distance
class servo():
def __init__(self):
# Set channels to the number of servo channels on your kit.
# 8 for FeatherWing, 16 for Shield/HAT/Bonnet.
self.kit = ServoKit(channels=16)
logging.debug('Setting channel to 16')
self.z = 0
logging.debug('Set to 90 degree')
time.sleep(5)
self.x = 0
self.y = 0
self.xValue = 0
self.yValue = 0
self.rotateFistElbowAngle = 0
self.rotateAngle = 0
self.xComplete = False
self.yComplete = False
self.camera = Camera()
self.color = "orange"
self.robot = Robot()
self.ultrasonic = Ultrasonic()
self.Y_limit = {"Lower": 360, "Upper": 363}
self.X_limit = {"Lower": 314, "Upper": 316}
self.dictColor = {"orange": (114, 61, 27), "green": (50, 168, 82)}
# for the api
self.color_coordinates = {}
def set_color(self, color):
self.color = color
(self.camera.red, self.camera.green,
self.camera.blue) = self.dictColor[color]
def check_object(self):
self.x, self.y = self.camera.check_object()
return self.x, self.y
def get_current_coord(self):
current_coord = (round(self.kit.servo[2].angle),
round(self.kit.servo[5].angle),
round(self.kit.servo[4].angle),
round(self.kit.servo[1].angle),
round(self.kit.servo[0].angle),
round(self.kit.servo[3].angle))
return current_coord
def findAngle(self):
counter = 0
current_coord = self.get_current_coord()
self.x, self.y = self.check_object()
for base_list in self.robot.list_coord:
list_coord = self.robot.dict_coord[str(base_list)]
for new_coord in list_coord:
if self.y is -1 and self.x is -1:
self.robot.move_to_coord(current_coord, new_coord)
self.x, self.y = self.check_object()
current_coord = new_coord
counter += 1
else:
self.x, self.y = self.check_object()
self.adjust_x_axis()
#TXAxis = threading.Thread(target=self.adjust_x_axis)
#TXAxis.start()
logging.debug('Start X')
self.adjust_y_axis()
#TYAxis = threading.Thread(target=self.adjust_y_axis)
#TYAxis.start()
logging.debug('Start Y')
while not self.xComplete or not self.yComplete:
continue
self.adjust_z_axis()
return self.get_current_coord()
@staticmethod
def get_increment_value(value, value_limit):
if value > (value_limit + 60):
increment_value = 4
else:
increment_value = 0.1
return increment_value
@staticmethod
def get_decrement_value(value, value_limit):
if value < (value_limit - 60):
decrement_value = 4
else:
decrement_value = 0.1
return decrement_value
def adjust_y_axis(self):
rotate_first_elbow_angle = self.kit.servo[1].angle
try:
while True:
y = self.y
condition = self.Y_limit['Lower'] <= y <= self.Y_limit['Upper']
#and self.X_limit['Lower'] < self.x < self.X_limit['Upper']
logging.debug('Y adjust {0}'.format(["Y Coord", y]))
logging.debug('Y condition {0}'.format(condition))
if condition:
self.yValue = rotate_first_elbow_angle
break
while y >= int(self.Y_limit['Upper']
) and rotate_first_elbow_angle < 100:
rotate_first_elbow_angle = rotate_first_elbow_angle + \
self.get_decrement_value(y, self.Y_limit['Upper'])
self.kit.servo[1].angle = rotate_first_elbow_angle
self.kit.servo[4].angle = self.kit.servo[
4].angle - self.get_decrement_value(
y, self.Y_limit['Upper'])
logging.debug('Y adjust {0}'.format(
["Y", rotate_first_elbow_angle, y]))
#time.sleep(0.1)
self.x, self.y = self.check_object()
y = self.y
while y <= int(self.Y_limit['Lower']
) and rotate_first_elbow_angle > 0:
rotate_first_elbow_angle = rotate_first_elbow_angle - \
self.get_increment_value(y, self.Y_limit['Lower'])
self.kit.servo[1].angle = rotate_first_elbow_angle
self.kit.servo[4].angle = self.kit.servo[
4].angle + self.get_increment_value(
y, self.Y_limit['Lower'])
logging.debug('Y adjust {0}'.format(
["Y", rotate_first_elbow_angle, y]))
#time.sleep(0.1)
self.x, self.y = self.check_object()
y = self.y
time.sleep(1)
except KeyboardInterrupt:
print("except")
finally:
print("finally")
self.rotateFistElbowAngle = rotate_first_elbow_angle
self.xComplete = True
time.sleep(2)
def adjust_x_axis(self):
rotate_base_angle = self.kit.servo[2].angle
try:
while True:
x = self.x
condition = self.X_limit['Lower'] <= x <= self.X_limit['Upper']
#and self.Y_limit['Lower'] < self.y < self.Y_limit['Upper']
logging.debug('X adjust {0}'.format(["X Coord", x]))
logging.debug('X condition {0}'.format(condition))
if condition:
self.xValue = rotate_base_angle
break
while x >= int(
self.X_limit['Upper']) and rotate_base_angle > 45:
rotate_base_angle = rotate_base_angle - self.get_decrement_value(
x, self.X_limit['Upper'])
self.kit.servo[2].angle = rotate_base_angle
logging.debug('X adjust {0}'.format(
["X", rotate_base_angle, x]))
#time.sleep(0.2)
self.x, self.y = self.check_object()
x = self.x
while x <= int(
self.X_limit['Lower']) and rotate_base_angle < 130:
rotate_base_angle = rotate_base_angle + self.get_increment_value(
x, self.X_limit['Lower'])
self.kit.servo[2].angle = rotate_base_angle
logging.debug('X adjust {0}'.format(
["X", rotate_base_angle, x]))
#time.sleep(0.2)
self.x, self.y = self.check_object()
x = self.x
time.sleep(1)
except KeyboardInterrupt:
print("except")
finally:
print("finally")
self.rotateAngle = rotate_base_angle
self.yComplete = True
time.sleep(2)
def adjust_z_axis(self):
z = self.ultrasonic.get_distance()
try:
while z > 4.3:
self.robot.get_current_coord()
self.kit.servo[5].angle = self.kit.servo[5].angle - 1
self.kit.servo[1].angle = self.kit.servo[1].angle + 0.1
self.kit.servo[4].angle = self.kit.servo[4].angle + 0.1
logging.debug('X {0} Y {1}'.format(self.x, self.y))
z = self.ultrasonic.get_distance()
self.adjust_y_axis()
except KeyboardInterrupt:
print("except")
finally:
print("finally")