robot.motor4.throttle = 0
inp = input("Press Enter")
running = True
while running:
if not autonomous:
if server_online:
if server.disconnect_counter > 10:
arm.kit.stepper2.release()
server.receiveConnection()
print('Connection Received')
if sonars_activated:
front_dist = round(s_front.distance(distances[0]), 2) # Get sonars distance data
left_dist = round(s_left.distance(distances[4]), 2)
right_dist = round(s_right.distance(distances[1]), 2)
#backleft_dist = round(s_backleft.distance(distances[2]), 2)
#backright_dist = round(s_backright.distance(distances[3]), 2)
#if front_dist <= 6:
#if motors_running:
#control = 'stop'
distances = [front_dist, right_dist, backleft_dist, backright_dist , left_dist]
if imu_activated:
ag_data_ready = imu.driver.read_ag_status().accelerometer_data_available
if ag_data_ready:
temp, acc, gyro = imu.read_ag() # Get IMU data
light_controller_thread.start()
bot_thread = threading.Thread(target=bot_driver_thread)
bot_thread.start()
left_sonar = Sonar(LEFT_TRIGGER, ECHO, READING_TIMEOUT_MS)
middle_sonar = Sonar(MIDDLE_TRIGGER, ECHO, READING_TIMEOUT_MS)
right_sonar = Sonar(RIGHT_TRIGGER, ECHO, READING_TIMEOUT_MS)
LED_OUT = []
for pin in LED_PINS:
LED_OUT.append(PWMOutputDevice(pin))
try:
while True:
left_dist = left_sonar.distance()
time.sleep(.100)
middle_dist = middle_sonar.distance()
time.sleep(.100)
right_dist = right_sonar.distance()
time.sleep(.100)
print("left: %s; middle: %s; right: %s;" %
(distance_display(left_dist), distance_display(middle_dist),
distance_display(right_dist)))
for controllerKey in controllers:
controllers[controllerKey].set_sensor_values(
[left_dist, middle_dist, right_dist])
time.sleep(1)
right_dist = '0'
turn = ''
turn_prediction = ''
while True:
'''
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
turnLeft()
'''
front_dist = round(s_front.distance(distances[0]),
2) # Get sonars distance data
left_dist = round(s_left.distance(distances[4]), 2)
right_dist = round(s_right.distance(distances[1]), 2)
backleft_dist = round(s_backleft.distance(distances[2]), 2)
backright_dist = round(s_backright.distance(distances[3]), 2)
if front_dist <= 6:
stop()
distances = [
front_dist, right_dist, backleft_dist, backright_dist, left_dist
]
print(distances)
if float(left_dist) >= 10:
turn_prediction = 'left'
turnCount = 0
running = True
while running:
#print('hi')
if not autonomous:
if server_online:
if server.disconnect_counter > 10:
arm.kit.stepper2.release()
server.receiveConnection()
print('Connection Received')
if sonars_activated:
front_dist = round(s_front.distance(distances[0]),
2) # Get sonars distance data
left_dist = round(s_left.distance(distances[4]), 2)
right_dist = round(s_right.distance(distances[1]), 2)
#backleft_dist = round(s_backleft.distance(distances[2]), 2)
#backright_dist = round(s_backright.distance(distances[3]), 2)
#if front_dist <= 6:
#if motors_running:
#control = 'stop'
distances = [
front_dist, right_dist, backleft_dist, backright_dist, left_dist
]
#print(distances)
'''
