def gotoline(speed, over=True):
"""Proceed forward until cross the line."""
pi2go.goBoth(speed)
while not pi2go.irLeftLine():
time.sleep(0.1)
if over:
# get off the line
while pi2go.irLeftLine():
time.sleep(0.1)
def three_point_turn():
"""Perform three point turn."""
# start speed
speed = 100
# start with no turn-rate
turn = 100.0
# start inside a marked, A3-sized box.
# proceed forward and cross the red line.
gotoline(speed, True)
timestartout = time.time()
# proceed forward and cross the next.
gotoline(speed, True)
# proceed forward and cross the next.
gotoline(speed, True)
timestopout = time.time()
# turn left by 90 degrees (either on the spot or in-motion).
pi2go.spinLeft(turn)
time.sleep(timespincircle*90.0/360)
# drive forward and touch or cross the first black line.
# forward to left line
timestart = time.time()
gotoline(speed, False)
# leave on line
timestop = time.time()
# drive backwards in a straight line and touch or cross the first black line.
# reverse off line and then to right line
gotoline(-speed, True)
gotoline(-speed, True)
# drive forwards to the middle of the turning area.
# move half across distance we have just reversed
pi2go.goBoth(speed)
time.sleep(timestop-timestart)
# turn left by 90 degrees (either on the spot or in-motion).
pi2go.spinLeft(turn)
time.sleep(timespincircle*90.0/360)
# return to the starting box.
# move outbound distance back to start
pi2go.goBoth(speed)
time.sleep(timestopout-timestartout)
stop()
def straight_line():
"""Straight line speed test."""
# Full speed
speed = 100
# start inside a marked, A3-sized box.
# cross the start line
gotoline(speed, True)
# continue to finish line
gotoline(speed,True)
# go 20cm further (cross the line)
pi2go.goBoth(speed)
time.sleep(time10cm*2)
pi2go.stop()
def proximity_test():
"""Perform whole PiWars Proximity Test challenge."""
MIN_DIST = 1.45
# drive forward 1.3m so that sensors are in range.
# use wheel turn calibration on distance
#pi2go.goBoth(100)
#time.sleep(time10cm*1) # test
#time.sleep(time10cm*13)
pi2go.stop()
# square off to the wall
distance = square_up()
logging.debug('Distance={}'.format(distance))
# proceed towards the wall slowing down as we approach
# speeed 1 (max) at 20cm and 0 (min) at 0.5cm
while distance >= MIN_DIST:
logging.debug('Speed={}'.format((distance - MIN_DIST) / (20 - MIN_DIST) * 100))
pi2go.goBoth(min((distance - MIN_DIST) / (20 - MIN_DIST) * 100, 100))
distance = pi2go.getDistance()
logging.debug('Distance={}'.format(distance))
pi2go.stop()
