def __init__(self, servo=False, motor_trim_factor=1.0):
self.pi = pigpio.pi('localhost')
self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
self.pi.set_mode(PIN_ENCODER_LEFT, pigpio.INPUT)
self.pi.set_mode(PIN_ENCODER_RIGHT, pigpio.INPUT)
self._cb = dict()
self._cb_last_tick = dict()
self._cb_elapse = dict()
self._servo = servo
self._motor_trim_factor = motor_trim_factor
if self._servo:
self.motor_control = self._servo_motor
else:
self.motor_control = self._dc_motor
self._cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE,
coderbot_callback)
self._cb2 = self.pi.callback(PIN_ENCODER_LEFT, pigpio.RISING_EDGE,
coderbot_callback)
self._cb3 = self.pi.callback(PIN_ENCODER_RIGHT, pigpio.RISING_EDGE,
coderbot_callback)
for pin in self._pin_out:
self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
self.pi.set_PWM_range(pin, PWM_RANGE)
self.stop()
self._is_moving = False
self.sonar = [
sonar.Sonar(self.pi, PIN_SONAR_1_TRIGGER, PIN_SONAR_1_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_2_TRIGGER, PIN_SONAR_2_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_3_TRIGGER, PIN_SONAR_3_ECHO)
]
self._encoder_cur_left = 0
self._encoder_cur_right = 0
self._encoder_target_left = -1
self._encoder_target_right = -1
def __init__(self, motor_trim_factor=1.0, encoder=True):
try:
self._mpu = mpu.AccelGyroMag()
self.GPIOS = GPIO_CODERBOT_V_5()
logging.info("MPU available")
except:
logging.info("MPU not available")
self.GPIOS = GPIO_CODERBOT_V_4()
self._pin_out = [
self.GPIOS.PIN_LEFT_FORWARD, self.GPIOS.PIN_RIGHT_FORWARD,
self.GPIOS.PIN_LEFT_BACKWARD, self.GPIOS.PIN_RIGHT_BACKWARD,
self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2
]
self.pi = pigpio.pi('localhost')
self.pi.set_mode(self.GPIOS.PIN_PUSHBUTTON, pigpio.INPUT)
self._cb = dict()
self._cb_last_tick = dict()
self._cb_elapse = dict()
self._encoder = encoder
self._motor_trim_factor = motor_trim_factor
self._twin_motors_enc = WheelsAxel(
self.pi,
enable_pin=self.GPIOS.PIN_MOTOR_ENABLE,
left_forward_pin=self.GPIOS.PIN_LEFT_FORWARD,
left_backward_pin=self.GPIOS.PIN_LEFT_BACKWARD,
left_encoder_feedback_pin_A=self.GPIOS.PIN_ENCODER_LEFT_A,
left_encoder_feedback_pin_B=self.GPIOS.PIN_ENCODER_LEFT_B,
right_forward_pin=self.GPIOS.PIN_RIGHT_FORWARD,
right_backward_pin=self.GPIOS.PIN_RIGHT_BACKWARD,
right_encoder_feedback_pin_A=self.GPIOS.PIN_ENCODER_RIGHT_A,
right_encoder_feedback_pin_B=self.GPIOS.PIN_ENCODER_RIGHT_B)
self.motor_control = self._dc_enc_motor
self._cb1 = self.pi.callback(self.GPIOS.PIN_PUSHBUTTON,
pigpio.EITHER_EDGE, self._cb_button)
for pin in self._pin_out:
self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
self.pi.set_PWM_range(pin, PWM_RANGE)
self.sonar = [
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_1_TRIGGER,
self.GPIOS.PIN_SONAR_1_ECHO),
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_2_TRIGGER,
self.GPIOS.PIN_SONAR_2_ECHO),
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_3_TRIGGER,
self.GPIOS.PIN_SONAR_3_ECHO),
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_4_TRIGGER,
self.GPIOS.PIN_SONAR_4_ECHO)
]
self._servos = [self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
self.stop()
def test_part_two(self):
"Test part two example of Sonar object"
# 1. Create Sonar object from text
myobj = sonar.Sonar(part2=True, text=aoc_01.from_text(PART_TWO_TEXT))
# 2. Check the part two result
self.assertEqual(myobj.part_two(verbose=False), PART_TWO_RESULT)
def test_part_one(self):
"Test part one example of Sonar object"
# 1. Create Sonar object from text
myobj = sonar.Sonar(text=aoc_01.from_text(PART_ONE_TEXT))
# 2. Check the part one result
self.assertEqual(myobj.part_one(verbose=False), PART_ONE_RESULT)
def test_empty_init(self):
"Test the default Sonar creation"
# 1. Create default Sonar object
myobj = sonar.Sonar()
# 2. Make sure it has the default values
self.assertEqual(myobj.part2, False)
self.assertEqual(myobj.text, None)
def __init__(self, servo=False, motor_trim_factor=1.0):
self.pi = pigpio.pi('localhost')
self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
#self.pi.set_mode(PIN_ENCODER_LEFT, pigpio.INPUT)
#self.pi.set_mode(PIN_ENCODER_RIGHT, pigpio.INPUT)
self._cb = dict()
self._cb_last_tick = dict()
self._cb_elapse = dict()
self._servo = servo
self._motor_trim_factor = motor_trim_factor
if self._servo:
self.motor_control = self._servo_motor
else:
self.motor_control = self._dc_enc_motor
self._cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE,
self._cb_button)
#self._cb2 = self.pi.callback(PIN_ENCODER_LEFT, pigpio.RISING_EDGE, self._cb_enc_left)
#self._cb3 = self.pi.callback(PIN_ENCODER_RIGHT, pigpio.RISING_EDGE, self._cb_enc_right)
for pin in self._pin_out:
self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
self.pi.set_PWM_range(pin, PWM_RANGE)
self.sonar = [
sonar.Sonar(self.pi, PIN_SONAR_1_TRIGGER, PIN_SONAR_1_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_2_TRIGGER, PIN_SONAR_2_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_3_TRIGGER, PIN_SONAR_3_ECHO)
]
self._twin_motors_enc = self.TwinMotorsEncoder(
self.pi,
pin_enable=PIN_MOTOR_ENABLE,
pin_forward_left=PIN_LEFT_FORWARD,
pin_backward_left=PIN_LEFT_BACKWARD,
pin_encoder_left=PIN_ENCODER_LEFT,
pin_forward_right=PIN_RIGHT_FORWARD,
pin_backward_right=PIN_RIGHT_BACKWARD,
pin_encoder_right=PIN_ENCODER_RIGHT)
try:
self._ag = mpu.AccelGyro()
except IOError:
logging.info("MPU not available")
self.stop()
self._is_moving = False
def __init__(self, n_sensor, SENSOR_FOV, SENSOR_MAX_R, robot_co):
self.sonar_list = []
self.need_diversion_flag = False
self.n_sensor = n_sensor
i_pos = list(range(1, int(n_sensor/2) + 1))
i_neg = list(range(int(-n_sensor/2) , 0))
i_pos.reverse()
i_neg.reverse()
i_pos.extend(i_neg)
for i in i_pos:#create a list of individual sonars...
self.sonar_list.append(sonar.Sonar(i, SENSOR_FOV, SENSOR_MAX_R, robot_co))
def talker():
pub = rospy.Publisher('chatter', Int32, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
sonar_ss = sonar.Sonar(24, 23)
while not rospy.is_shutdown():
hello_str = sonar_ss.get_range()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
def test_text_init(self):
"Test the Sonar object creation from text"
# 1. Create Sonar object from text
myobj = sonar.Sonar(text=aoc_01.from_text(EXAMPLE_TEXT))
# 2. Make sure it has the expected values
self.assertEqual(myobj.part2, False)
self.assertEqual(len(myobj.text), 10)
# 3. Check methods
self.assertEqual(myobj.more_than_previous(), 7)
self.assertEqual(myobj.do_windows(window=1), 7)
self.assertEqual(myobj.do_windows(), 5)
def part_two(args, input_lines):
"Process part two of the puzzle"
# 1. Create the puzzle solver
solver = sonar.Sonar(part2=True, text=input_lines)
# 2. Determine the solution for part two
solution = solver.part_two(verbose=args.verbose, limit=args.limit)
if solution is None:
print("There is no solution")
else:
print("The solution for part two is %s" % (solution))
# 3. Return result
return solution is not None
import sonar
from pandas import read_csv
sn = sonar.Sonar()
class TestObject(object):
def test_test(self):
assert 1 == 1, "Something is wrong with the test"
def test_data_loading(self):
data = sn.data
url = 'sonar/sonar.all-data.csv'
test_data = read_csv(url, header=None)
assert str(test_data) == str(data), "Data didn't load correctly"
def test_validation(self):
x = sn.x
assert x.size > 0, "self.x is empty"
x_t = sn.x_train
assert x_t.size > 0, "self.x_train is empty"
x_v = sn.x_validation
assert x_v.size > 0, "self.x_validation is empty"
y = sn.y
assert y.size > 0, "self.y is empty"
y_t = sn.y_train
assert y_t.size > 0, "self.y_train is empty"
y_v = sn.y_validation
assert y_v.size > 0, "self.y_validation is empty"