def start_wheels(self):
"""Start the Wheels Process"""
self.ns.target_steering = SteeringDirection.NONE
self.ns.target_throttle = 0
# Create class and process
self.wheels = Wheels(self.ns)
self._start_process("wheels")
def __init__(self, scanInterval=0.1):
self.sensors = DistanceSensors()
self.robot = Wheels()
self.previousDistance = -1.0
self.previousDirection = Direction.Stop
self.stuckCount = 0
# start distance scanning
if not (self.sensors.StartScanner(scanInterval, True)):
raise SensorException("Distance sensors not working")
def __init__(self, manufacturer):
# the names list contains model from Specialized bikes as I am a huge fan of its bikes (I own one! :-))
names = [
"Pitch", "Epic", "Source", "Enduro", "Fatboy", "Status", "Demo",
"Tarmac", "Allez", "Venge", "Shiv", "Roubaix", "Secteur",
"Diverge", "Awol", "Crux", "Langster", "Sirrus", "Daily",
"Crosstail", "CossRoads", "Expedition"
]
self.frame = Frames(1)
self.wheels = Wheels(1)
self.manufacturer = manufacturer
self.model_name = choice(names)
self.weight = (self.frame.frame_weight +
2 * self.wheels.wheel_weight) / 1000.0
self.cost = self.frame.frame_cost + 2 * self.wheels.wheel_cost
def __init__(self):
self.wheels = Wheels()
pass
import sys import RPi.GPIO as GPIO from wheels import Wheels GPIO.setmode(GPIO.BCM) robot = Wheels() robot.Stop() GPIO.cleanup()
return self.age
def getSpeed(self):
return self.speed
#A method to increase/decrease speed. Time is in seconds
#Amount is the speed increase per second in km/h
def accelerate(self, time, amount):
i = 0
#increase speed as time X amount
while i < time:
self.speed += amount
if (self.speed >= self.maxSpeed):
self.speed = self.maxSpeed
break
i += 1
newTreds = Wheels()
newTreds.changeTire(0, 10)
newTreds.changeTire(1, 10)
newTreds.changeTire(2, 10)
newTreds.changeTire(3, 10)
lancer = Car("lancer", newTreds, "LPG", "2L", "Auto", "Burgandy", 145)
print(lancer)
lancer.accelerate(10, 20)
print(lancer.getSpeed())
print(lancer.wheels)
newTreds.changeTire(0, -1)
print(lancer.wheels)
from boat import Boat
from car import Car
from engine import Engine
from gas_tank import GasTank
from solar_car import SolarCar
from wheels import Wheels
def drive(driveable):
driveable.get_wheels_count()
driveable.turn('Right')
driveable.accelerate()
driveable.turn('Right')
driveable.brake()
if __name__ == '__main__':
car = Car(GasTank(60), Engine(80), Wheels(4))
solarCar = SolarCar(GasTank(50), Engine(120), Wheels(8))
boat = Boat(GasTank(900), Engine(200), Wheels(0))
for i in [boat, car, solarCar]:
drive(i)
from boat import Boat
from car import Car
from engine import Engine
from gas_tank import GasTank
from solar_car import SolarCar
from wheels import Wheels
def test_drive(driveable):
driveable.get_wheels_count()
driveable.turn('Ліво')
driveable.accelerate()
driveable.turn('Ліво')
driveable.brake()
if __name__ == '__main__':
car = Car(GasTank(29), Engine(35), Wheels(4))
solarCar = SolarCar(GasTank(10), Engine(25), Wheels(4))
boat = Boat(GasTank(58), Engine(36), Wheels(0))
vehicles = [boat, car, solarCar]
for i in vehicles:
test_drive(i)
class Car:
engine = Engine() # подключаем двигатель
transmission = Transmission() # подключаем КП
wheels = Wheels() # подключаем колёса
def __init__(self):
self.path = 0
self.power = False
self.gasoline = 0.0
self.oil = 0.0
self.speed = 0.0
self.__time_start = 0
def __repr__(self):
self.transforms()
return "Данные автомобиля и поездки:\n" \
"\tзапущен = %s\n" \
"\tуровень топлива = %s л.\n" \
"\tуровень масла = %s %%\n" \
"\tскорость = %s км/ч\n" \
"\tпройденый путь = %s км" % (self.power, self.gasoline, self.oil, self.speed, self.path)
def transforms(self): # соединение классов, получение данных для вывода
self.engine.time = self.power * (time.time() - self.__time_start)
self.transmission.turns_engine = self.engine.turns_engine()
self.wheels.turns_wheels = self.transmission.clutch_pedal()
self.power = self.engine.power
self.gasoline = self.engine.gasoline
self.oil = self.transmission.oil * 100
self.get_speed()
self.path = self.wheels.transform_path()
def turn_on(self): # включить двигатель, начинаем отсчёт времени
try:
self.engine.start_engine()
except Exception as e:
print("Авто не поедет, пока есть проблемы:\n %s" % e)
else:
self.__time_start = time.time()
print("Вжжжжжжжж-чух-чух-чух-чух")
def turn_off(self): # выключить двигатель
self.engine.stop_engine()
print("Двигатель выключен")
def add_gasoline(self, litres): # добавить топлива
self.engine.add_gasoline(litres)
print("Машина заправлена. Всего в баке %s литров бензина" %
self.engine.gasoline)
def add_oil(self): # восстановить масло
self.transmission.add_oil()
print("Ты зашёл на ближайшую СТО и поменял масло. Какой молодец ^_^ ")
def change_speed(self,
gas=engine.gas,
gear=transmission.gear): # изменить скорость
self.transmission.gear = gear
self.engine.gas = gas
print(
"Теперь ты едешь на %s передаче и нажал газ на %s градусов. Какой молодец ^_^ "
% (self.transmission.gear, self.engine.gas))
def get_speed(self): # расчитать скорость
try:
self.speed = self.engine.rpm * self.transmission.gear * self.wheels.wheel * 60
except Exception:
self.speed = 0
return self.speed
pig = pigpio.pi()
def input_char(message):
try:
win = curses.initscr()
win.addstr(0, 0, message)
while True:
ch = win.getch()
if ch in range(32, 127): break
time.sleep(0.05)
except: raise
finally:
curses.endwin()
return chr(ch)
wheels = Wheels(pig, left_servo_pin, right_servo_pin)
s = 22
def forward():
set_speeds(s,s)
def backward():
set_speeds(-s, -s)
def left():
set_speeds(0, s)
def right():
set_speeds(s, 0)
from sensors import Sensor
from sensors import Sensors
from wheels import Wheel
from wheels import MockWheel
from wheels import Wheels
import RPi.GPIO as GPIO
from runtime import Runtime
from processor import Processor
GPIO.setmode(GPIO.BOARD)
sensor1 = Sensor(11, 13)
sensor3 = Sensor(15, 16)
sensor5 = Sensor(18, 19)
sensor6 = Sensor(21, 22)
sensor8 = Sensor(23, 24)
sensor10 = Sensor(26, 29)
leftMotor = Wheel(5, 3, 7, 7)
rightMotor = Wheel(8, 10, 12, 1)
# rightMotor = MockWheel("rightWheel")
zrobot_runtime = Runtime(
Sensors([sensor1, sensor3, sensor5, sensor6, sensor8, sensor10]),
Processor(), Wheels(leftMotor, rightMotor))
zrobot_runtime.start()