def __init__(self): self.hindbrain=Hindbrain()
class Midbrain:
def __init__(self):
self.hindbrain=Hindbrain()
## limit sail servo so it doesn't go out of mechanical bounds:
def limitSailServo(self):
sailDesired=bank.bank('sailDesired')
if sailDesired >180:
sailDesired=180
if sailDesired<0:
sailDesired=0
print "The sail angle sent to the servo is:", sailDesired
## limit stearing servo so it doesn't go out of mechanical bounds:
def limitStearingServo(self):
stearingDesired=bank.bank('stearingDesired')
if stearingDesired >90:
stearingDesired=90
if stearingDesired<0:
stearingDesired=0
print "The sail angle sent to the servo is:", stearingDesired
## Set sails to servo readable position: AKA: get from boat heading to servo position
def sailDesToServoDes(self):
#midbrain
#converts from the sail theta to the equivelent theta for the sail winch
import bank
sailDesired=bank.bank('sailDesired')
sailServoDesired= (sailDesired-20)/2
print 'The servo set angle is: ' +str(sailServoDesired) + ' degrees'
return sailServoDesired
## set stearing to readable servo heading: AKA: convert from global coordinate heading into servo set angle.
def stearingDestoStrSvoDes(self):
stearingDesired=bank.bank('stearingDesired')
currentHeading = self.hindbrain.readHeading()
print 'desired stearing is: ', stearingDesired
print 'current heading is: ',currentHeading
if stearingDesired>currentHeading: #bot needs to turn left!
stearingServoDesired=45-(stearingDesired-currentHeading)
if stearingDesired<currentHeading: #bot needs to turn right!
stearingServoDesired=45+(currentHeading-stearingDesired)
print 'desired servo stearing angle is: ',stearingServoDesired
return stearingServoDesired
def readWindDirecrion(self):
'''Reads the current wind direction through the hindbrain's method'''
return self.hindbrain.readWindDirecrion()
def readHeading(self):
'''Reads the current robot heading from the compas via the hindbrain's designated method'''
return self.hindbrain.readHeading()
def readPosition(self):
'''reads the current GPS position off the robot via the hindbrain's method'''
return self.hindbrain.readPosition()
def readIR1(self):
'''Reads the current distance from an object from the IR range sensor 1 via the hindbrain's method'''
return self.hindbrain.readObstacle1()
