def get_route(self, destination):
destination = self.get_uid_from_map(destination)
current_pos = self.get_current();
dest_id = self.get_index_from_uid(destination)
curr_id = self.get_index_from_uid(current_pos)
print "dest id = ", dest_id
print "curr id = ", curr_id
from Route import Route
route = Route(curr_id, dest_id, [], [], [])
path = route.findRoute()
from Imu import IMU
imu = IMU()
print "imu reading = ", imu.get_heading()
from obstacle import Obstacle
o = Obstacle()
print "setting up motors..."
from Motor import Motor
motor = Motor(o)
motor.setup()
print "setting up navigation..."
from navigate import Navigate
navigator = Navigate(motor,imu)
navigator.set_direc(imu)
for x in range(0,len(path)-1):
#print (path[x],path[x+1])
#navigator.set_direc(imu)
navigator.navigate(path[x], path[x+1])
def move(self,num):
steps =0
#Forward Direction
GPIO.output(7, GPIO.HIGH) #Setting directions Right
GPIO.output(8, GPIO.LOW) #Left
count = 0
from Imu import IMU #Get direction
imu = IMU()
print imu.get_heading()
while(steps != num*255):
##int( "Step ", steps) #255
count = count + 1
if (count%20==0):
if (self.__obstacle.get_distance() < 30):
GPIO.output(21, GPIO.HIGH)
time.sleep(5)
#print "Motor 15: ", steps
GPIO.output(15, GPIO.HIGH)
#print "Motor 12L ", steps
GPIO.output(12, GPIO.HIGH)
time.sleep(0.010)
GPIO.output(15,GPIO.LOW)
GPIO.output(12,GPIO.LOW)
time.sleep(0.010)
steps = steps +1
GPIO.output(7, GPIO.LOW)
GPIO.output(8, GPIO.LOW)
