Ejemplo n.º 1
0
    def go(self, speed, direction):
        """update the speed and direction of the robot"""

        rightM = 0
        leftM = 0
        if direction == 0:
            rightM = 100
            leftM = 100
        elif direction == 45:
            rightM = 50
            leftM = 100
        elif direction == -45:
            rightM = 100
            leftM = 50
        elif direction == 90:
            rightM = -80
            leftM = 80
        elif direction == -90:
            rightM = 80
            leftM = -80
        elif direction == 135:
            rightM = -50
            leftM = -100
        elif direction == -135:
            rightM = -100
            leftM = -50
        elif abs(direction) == 180:
            rightM = -100
            leftM = -100

        speed = speed / 100.0
        rightM = rightM * speed
        leftM = leftM * speed
        print rightM, leftM
        self.pinsTL.acquire()  # acquire a Thread Lock
        if RobotHelper.isPositive(rightM):
            self.pinArray["RightBack"].stop()
            self.pinArray["RightFront"].start(rightM)
        else:
            self.pinArray["RightFront"].stop()
            self.pinArray["RightBack"].start(abs(rightM))

        if RobotHelper.isPositive(leftM):
            self.pinArray["LeftBack"].stop()
            self.pinArray["LeftFront"].start(leftM)
        else:
            self.pinArray["LeftFront"].stop()
            self.pinArray["LeftBack"].start(abs(leftM))
        self.pinsTL.release()  # release the Thread Lock
Ejemplo n.º 2
0
    def runMission(self):
        """Internal function for running the mission in a separate thread"""
        drc = 0
        speed = 100
        newDrc = 0

        for move in self.moves:
            if self.missionStopEv.is_set():
                return
            command = move['command']
            wait_time = move['delay']

            # deal with the special commands
            if command == "LIGHTON":
                self.robot.setLight(1)

            elif command == "LIGHTOFF":
                self.robot.setLight(0)

            elif command == "S":  # deal with the speed change
                speed = int(move['speed'])
                self.robot.go(speed, drc)
            else:
                newDrc = RobotHelper.getDirection(command)  # Try and get the directions from the command
                # if we manage to parse the command, send it to the robot otherwise stop it
                if not newDrc == None:
                    drc = newDrc
                    self.robot.go(speed, drc)
                else:
                    self.robot.stop()

            # wait while still listening for the stop event
            self.missionStopEv.wait(wait_time / 1000.0)
Ejemplo n.º 3
0
    def getDirection(self, keys):
        """find the direction from the key configuration"""

        if keys == [0, 0, 0, 0]:
            return None

        direction = ""

        if keys[0] == 1:
            direction += "F"
        elif keys[2] == 1:
            direction += "B"

        if keys[1] == 1:
            direction += "L"
        elif keys[3] == 1:
            direction += "R"

        return RobotHelper.getDirection(direction)
Ejemplo n.º 4
0
    def getDirection(self, keys):
        """find the direction from the key configuration"""

        if keys == [0, 0, 0, 0]:
            return None

        direction = ""

        if keys[0] == 1:
            direction += "F"
        elif keys[2] == 1:
            direction += "B"

        if keys[1] == 1:
            direction += "L"
        elif keys[3] == 1:
            direction += "R"

        return RobotHelper.getDirection(direction)