def findWall(speed):
s = sensors[SENS_R]
sClicks = s._sensorClicks
robohat.forward(speed)
# Sanity check (possibly report timeout)
countDown = 1000
while(not robohat.irAll() and countDown > 0):
time.sleep(0.01)
countDown -= 1
robohat.stop()
time.sleep(1)
eClicks = s._sensorClicks
print("final clicks: ", (sClicks - eClicks))
def forward(revs, speed):
robohat.forward(speed)
clicks = int(revs*CLICKS_PER_REV)
# doesn't matter which side's sensor we use
s = sensors[SENS_L]
s.start(clicks).wait(5)
# TODO: figure out how many clicks for the motors to stop, and allow for that
# in the above loop:
# speed, extra clicks
# 30, 7-8
# 50, 11-12
# 70, 13
# 100, 13-14
robohat.stop()
time.sleep(1)
print("final clicks: ", s._sensorClicks)
def wallAvoid():
print('Starting wall avoid')
speed = 100
time_end = time.time() + 4
# main loop
try:
for i in range(2):
time_end = time.time() + 6
while time.time() < time_end:
rightSensor = robohat.irRight()
leftSensor = robohat.irLeft()
if rightSensor and leftSensor:
robohat.spinLeft(speed)
time.sleep(1)
elif rightSensor:
robohat.spinLeft(speed)
time.sleep(0.2)
elif leftSensor == True:
robohat.spinRight(speed)
time.sleep(0.2)
else:
robohat.forward(speed)
robohat.forward(0)
time.sleep(3)
robohat.forward(speed)
time.sleep(0.2)
robohat.spinLeft(speed)
time.sleep(4)
except KeyboardInterrupt:
robohat.stop()
robohat.cleanup()
def wallAvoid():
print('Starting wall avoid')
speed = 100
time_end = time.time() + 4
# main loop
try:
for i in range(2):
time_end = time.time() + 6
while time.time() < time_end:
rightSensor = robohat.irRight()
leftSensor = robohat.irLeft()
if rightSensor and leftSensor:
robohat.spinLeft(speed)
time.sleep(1)
elif rightSensor:
robohat.spinLeft(speed)
time.sleep(0.2)
elif leftSensor == True:
robohat.spinRight(speed)
time.sleep(0.2)
else:
robohat.forward(speed)
robohat.forward(0)
time.sleep(3)
robohat.forward(speed)
time.sleep(0.2)
robohat.spinLeft(speed)
time.sleep(4)
except KeyboardInterrupt:
robohat.stop()
robohat.cleanup()
import robohat, time
speed = 80
robohat.init()
# main loop
try:
while True:
rightSensor = robohat.irRight()
leftSensor = robohat.irLeft()
print "right:{0}, left:{1}".format(rightSensor, leftSensor)
if rightSensor and leftSensor:
robohat.spinLeft(speed)
time.sleep(1)
elif rightSensor:
robohat.spinLeft(speed)
time.sleep(0.2)
print('Turn Left')
elif leftSensor == True:
robohat.spinRight(speed)
time.sleep(0.2)
print('Turn Right')
else:
robohat.forward(speed)
except KeyboardInterrupt:
robohat.stop()
robohat.cleanup()
return chr(0x10 + ord(c3) - 65) # 16=Up, 17=Down, 18=Right, 19=Left arrows
# End of single character reading
#======================================================================
speed = 60
robohat.init()
# main loop
try:
while True:
keyp = readkey()
if keyp == 'w' or ord(keyp) == 16:
robohat.forward(speed)
print ('Forward', speed)
elif keyp == 'z' or ord(keyp) == 17:
robohat.reverse(speed)
print ('Reverse', speed)
elif keyp == 's' or ord(keyp) == 18:
robohat.spinRight(speed)
print ('Spin Right', speed)
elif keyp == 'a' or ord(keyp) == 19:
robohat.spinLeft(speed)
print ('Spin Left', speed)
elif keyp == '.' or keyp == '>':
speed = min(100, speed+10)
print ('Speed+', speed)
elif keyp == ',' or keyp == '<':
speed = max (0, speed-10)
else:
return "Right"
if __name__ == "__main__":
init()
try:
while True:
dist = int(robohat.getDistance())
print("Distance: ", dist)
left_ir = robohat.irLeft()
right_ir = robohat.irRight()
if not (left_ir or right_ir):
if dist > 50:
robohat.forward(settings["speed"])
print("No obstacles in range to worry about")
time.sleep(0.5)
elif dist > 10:
print("Getting close, speed is: ",
int((settings["speed"]) * float(dist / 50)))
robohat.forward(int(
(settings["speed"]) * float(dist / 50)))
time.sleep(0.5)
elif dist < 10:
print("I'm getting close, taking evasive action!")
if side_distances() == "Left":
print("Evading left!")
robohat.spinLeft(settings["speed"])
else:
print("Evading right!")