class RCCar(object):
def __init__(self):
GPIO.setmode(GPIO.BCM)
self.direction = Servo(27, (-45, 45), (72.5, 162.5)) # board pin: 13
self.direction.trim = -1
self.front_motor = DCMotor(20, 6, 13) # board pin: 38, 31, 33
self.rear_motor = DCMotor(21, 19, 26) # board pin: 40, 35, 37
self.speed = 0
self.w_angle = self.direction.angle
self.mov = 'quieto'
"""
self.rear_sensor = BatSensor(17, 27, rango=(10, 80), continuous=0.2) # board pin: 11, 13
self.front_left_sensor = BatSensor(22, 10, rango=(10, 80), continuous=0.2) # board pin: 15, 19
self.front_right_sensor = BatSensor(9, 11, rango=(10, 80), continuous=0.2) # board pin: 21, 23
"""
def stop(self):
self.in_use = False
# dejar el coche frenando
def turn_left(self):
if self.survival_instinct():
return -self.direction.angle
print("Izquierda:", self.direction.angle)
return -self.direction.update(-5)
def turn_right(self):
if self.survival_instinct():
return -self.direction.angle
print("Derecha:", self.direction.angle)
return -self.direction.update(5)
def forward(self):
self.mov = 'adelante'
if self.survival_instinct():
return self.speed
if self.speed != 1:
self.speed = 1
self.front_motor.forward()
self.rear_motor.forward()
print("Acelero hacia delante")
return self.speed
def backward(self):
self.mov = 'atras'
if self.survival_instinct():
return self.speed
if self.speed != -1:
self.speed = -1
self.front_motor.backward()
self.rear_motor.backward()
print("Acelero hacia atras")
return self.speed
def decelerate(self):
if self.mov != 'quieto':
print("Desacelero")
#self.mov = 'quieto'
self.front_motor.release()
self.rear_motor.release()
def survival_instinct(self):
return False
def survival_instinct_not_in_use(self):
""" esta funcion no es ta en uso """
limit = 0.8 * max(self.front_left_sensor._rango)
rear = self.rear_sensor.avg
left = self.front_left_sensor.avg
right = self.front_right_sensor.avg
print("sensores R({}), FL({}), FR({})".format(rear, left, right))
if self.mov == 'atras' and rear < limit:
self.brake()
return True
elif self.mov == 'adelante':
if right < limit and left < limit:
self.brake()
return True
elif right < limit:
self.brake()
return True
elif left < limit:
self.brake()
return True
return False
def straight(self):
if self.survival_instinct():
return -self.direction.angle
self.direction.update(-self.direction.angle)
return -self.direction.angle
def brake(self):
print("Freno")
self.mov = 'quieto'
self.front_motor.brake()
self.rear_motor.brake()
