def run(self):
adcTolerance = 5
adcPins = 3
adcLast = [0, 0, 0, 0, 0, 0, 0, 0]
adcOut = [0, 0, 0, 0, 0, 0, 0, 0]
adcChanged = [False, False, False, False, False, False, False, False]
while not self.stopped():
sleep(SENDER_DELAY)
for i in range(adcPins):
adcChanged[i] = False
updates = []
for i in range(adcPins):
adcOut[i] = adc.readADC(i)
if (abs(adcOut[i] - adcLast[i]) > adcTolerance):
adcChanged[i] = True
updates.append((SCRATCH_NAME_INPUT[i], adcOut[i]))
if (DEBUG): print "ADC values: ", adcOut
if updates != []:
try:
self.sendUpdates(updates)
for i in range(adcPins):
if (changed[i]): adcLast = adcOut
except Exception as e:
print e
break
def run (self):
adcTolerance = 5
adcPins = 3
adcLast = [0,0,0,0,0,0,0,0]
adcOut = [0,0,0,0,0,0,0,0]
adcChanged = [False,False,False,False,False,False,False,False]
while not self.stopped ():
sleep (SENDER_DELAY)
for i in range (adcPins):
adcChanged[i] = False
updates = []
for i in range (adcPins):
adcOut[i] = adc.readADC (i)
if (abs (adcOut[i] - adcLast[i]) > adcTolerance):
adcChanged[i] = True
updates.append ((SCRATCH_NAME_INPUT[i], adcOut[i]))
if (DEBUG): print "ADC values: " , adcOut
if updates != []:
try:
self.sendUpdates (updates)
for i in range (adcPins):
if (changed[i]): adcLast = adcOut
except Exception as e:
print e
break
def run ((initR, initL)):
mode = MODE_INIT
reset = False
resetR = initR
resetL = initL
ticks = 0
sense = SENSE_NONE
direc = DIR_FWD
while True:
led.tick (ticks, mode)
ticks = ticks + 1
sleep (READ_DELAY)
# find the current values of the line sensors
lineR = adc.readADC (ADC_LINE_RIGHT)
lineL = adc.readADC (ADC_LINE_LEFT)
button = adc.readADC (ADC_BUTTON)
switchR = adc.readADC (ADC_SWITCH_RIGHT)
switchL = adc.readADC (ADC_SWITCH_LEFT)
if (adc.high (button) == True):
reset = True
if (adc.high (switchR) == True and mode != MODE_LINE):
mode = MODE_LINE
reset = True
elif (adc.high (switchL) == True and mode != MODE_MAZE):
mode = MODE_MAZE
reset = True
elif (adc.low (switchR) == True and adc.low (switchL) == True and
mode != MODE_WAIT):
mode = MODE_WAIT
motor.stopMotors ()
if (reset == True):
ticks = 0
led.tick (ticks, mode)
if (mode == MODE_LINE or mode == MODE_MAZE):
motor.stopMotors ()
sleep (5)
resetR = adc.readADC (ADC_LINE_RIGHT)
resetL = adc.readADC (ADC_LINE_LEFT)
elif (mode == MODE_WAIT):
os.system ("sudo shutdown -h now")
if (DEBUG):
print "resetR: %d | resetL: %d" % (resetR, resetL)
print "Right: %d | Left: %d" % (lineR, lineL)
print "Mode: %s | Reset: %s" % (showMode (mode), reset)
print "Button, switch R, switch L: %d, %d, %d" % (adc.high (button), adc.high (switchR), adc.high (switchL))
if (mode == MODE_WAIT and reset == True):
motor.stopMotors ()
if (reset == False):
sense = SENSE_NONE
if (lineR - resetR > thresholdR): sense |= SENSE_RIGHT
if (lineL - resetL > thresholdL): sense |= SENSE_LEFT
if (mode == MODE_LINE):
direc = lineFollowerTransition((direc, sense))
if (direc == DIR_RIGHT): steerRight ()
elif (direc == DIR_LEFT): steerLeft ()
else: goForward ()
elif (mode == MODE_MAZE):
direc = mazeSolverTransition((direc, sense))
if (direc == DIR_RIGHT): giveInRight ()
elif (direc == DIR_LEFT): swayLeft ()
else: goForward ()
reset = False
def init ():
motor.initMotors ()
initR = adc.readADC (ADC_LINE_RIGHT)
initL = adc.readADC (ADC_LINE_LEFT)
return (initR, initL)
def init():
motor.initMotors()
initR = adc.readADC(ADC_LINE_RIGHT)
initL = adc.readADC(ADC_LINE_LEFT)
return (initR, initL)
def run((initR, initL)):
mode = MODE_INIT
reset = False
resetR = initR
resetL = initL
ticks = 0
sense = SENSE_NONE
direc = DIR_FWD
while True:
led.tick(ticks, mode)
ticks = ticks + 1
sleep(READ_DELAY)
# find the current values of the line sensors
lineR = adc.readADC(ADC_LINE_RIGHT)
lineL = adc.readADC(ADC_LINE_LEFT)
button = adc.readADC(ADC_BUTTON)
switchR = adc.readADC(ADC_SWITCH_RIGHT)
switchL = adc.readADC(ADC_SWITCH_LEFT)
if (adc.high(button) == True):
reset = True
if (adc.high(switchR) == True and mode != MODE_LINE):
mode = MODE_LINE
reset = True
elif (adc.high(switchL) == True and mode != MODE_MAZE):
mode = MODE_MAZE
reset = True
elif (adc.low(switchR) == True and adc.low(switchL) == True
and mode != MODE_WAIT):
mode = MODE_WAIT
motor.stopMotors()
if (reset == True):
ticks = 0
led.tick(ticks, mode)
if (mode == MODE_LINE or mode == MODE_MAZE):
motor.stopMotors()
sleep(5)
resetR = adc.readADC(ADC_LINE_RIGHT)
resetL = adc.readADC(ADC_LINE_LEFT)
elif (mode == MODE_WAIT):
os.system("sudo shutdown -h now")
if (DEBUG):
print "resetR: %d | resetL: %d" % (resetR, resetL)
print "Right: %d | Left: %d" % (lineR, lineL)
print "Mode: %s | Reset: %s" % (showMode(mode), reset)
print "Button, switch R, switch L: %d, %d, %d" % (
adc.high(button), adc.high(switchR), adc.high(switchL))
if (mode == MODE_WAIT and reset == True):
motor.stopMotors()
if (reset == False):
sense = SENSE_NONE
if (lineR - resetR > thresholdR): sense |= SENSE_RIGHT
if (lineL - resetL > thresholdL): sense |= SENSE_LEFT
if (mode == MODE_LINE):
direc = lineFollowerTransition((direc, sense))
if (direc == DIR_RIGHT): steerRight()
elif (direc == DIR_LEFT): steerLeft()
else: goForward()
elif (mode == MODE_MAZE):
direc = mazeSolverTransition((direc, sense))
if (direc == DIR_RIGHT): giveInRight()
elif (direc == DIR_LEFT): swayLeft()
else: goForward()
reset = False
