def dpad_up_button_pressed():
if ps3_ControllerMode == 2: # 2 Mission Select Mode
challenge_select(0)
elif ps3_ControllerMode == 1:
debug.print_to_all_devices('Forwards', "FW")
drive.forward(dalek_settings.speed)
else:
head_controller.eye_move_up()
def driveBackwardsToDistance(distance):
DalekPrint("driveBackwards()")
dalekData = spi.readDevice1Data()
while dalekData['rearPing'] != distance:
dalekSpeed = CalculateSpeedToDrive(dalekData['rearPing'], distance)
if dalekData['rearPing'] <= distance:
drive.forward(dalekSpeed)
else:
drive.backward(dalekSpeed)
dalekData = spi.readDevice1Data()
def drive_backwards_to_distance(distance=distance_to_wall):
print("driveBackwards()")
while DalekSensors.rear_distance != distance:
dalekSpeed = CalculateSpeedToDrive(
DalekSensors.rear_distance, distance)
if DalekSensors.rear_distance <= distance:
drive.forward(dalekSpeed)
else:
drive.backward(dalekSpeed)
drive.stop()
def run(self):
self.running = True
debug.print_to_all_devices("Challenge 'the_duck_shoot' Started.")
while self.running:
drive.forward(self.dalek_settings.max_speed)
time.sleep(1)
####################################################
# #
# Code for this challenge goes in this while loop #
# #
####################################################
debug.print_to_all_devices("BANG!!!") # this line can be removed
drive.stop()
self.stop_running() # this line can be removed
def run(self):
self.running = True
debug.print_to_all_devices("Challenge 'Straight line' Started.")
# self.arduino_sensor_data.start() # starts the new process and runs in the background
self.arduino_sensor_data.start()
time.sleep(0.2)
while self.running:
drive.forward(self.dalek_settings.max_speed)
time.sleep(.1)
# # detects we have finished the challenge.
if self.arduino_sensor_data.frontPing <= 18:
drive.stop()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
self.arduino_sensor_data.frontPing))
self.stop_running()
if self.arduino_sensor_data.leftPing <= 5:
debug.print_to_all_devices("turnForwardRight", "TrR")
drive.turnForwardRight(self.dalek_settings.outer_turn_speed,
self.dalek_settings.inner_turn_speed)
time.sleep(.05)
drive.forward(self.dalek_settings.max_speed)
if self.arduino_sensor_data.rightPing <= 5:
debug.print_to_all_devices("turnForwardLeft", "TrL")
drive.turnForwardLeft(self.dalek_settings.inner_turn_speed,
self.dalek_settings.outer_turn_speed)
time.sleep(.05)
drive.forward(self.dalek_settings.max_speed)
def straight_line_speed_test(dalek_settings, dalek_sounds):
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
start_button = False
def button_start_pressed():
print("from straighe line challenge")
while dalek_settings.drive:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(dalek_settings.max_speed)
# detects we have finished the challenge.
if arduino_sensor_data.front_distance <= 10:
drive.cleanup()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
arduino_sensor_data.frontPing))
arduino_sensor_data.running = False
break
if arduino_sensor_data.left_ping <= 5:
debug.print_to_all_devices("turnForwardRight", "TrR")
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
if arduino_sensor_data.right_distance <= 5:
debug.print_to_all_devices("turnForwardLeft", "TrL")
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
arduino_sensor_data.join() # wait for process to finish
debug.print_to_all_devices("Done...")
def start(dalek_settings):
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
while True:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(100)
# detects we have finished the challenge.
if arduino_sensor_data.front_distance <= 10:
drive.cleanup()
print("Center Distance:{}cm Run Finished".format(
arduino_sensor_data.front_distance))
arduino_sensor_data.running = False
break
if arduino_sensor_data.left_distance <= 5:
print("turnForwardRight", "TrR")
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
if arduino_sensor_data.right_distance <= 5:
print("turnForwardLeft", "TrL")
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
# wait for process to finish
print("Done...")
def straight_line_speed_test_1(dalek_settings, dalek_sounds):
'''
finds the middle of the area and drives down it.
'''
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
turning_left = False
turning_right = False
previous_center_value = arduino_sensor_data.left_ping - arduino_sensor_data.right_distance
counter = 0
while dalek_settings.drive:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(dalek_settings.max_speed)
time.sleep(.5)
# detects we have finished the challenge.
if arduino_sensor_data.frontPing <= 10:
drive.cleanup()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
arduino_sensor_data.frontPing))
arduino_sensor_data.running = False
break
center_value = arduino_sensor_data.left_ping - arduino_sensor_data.right_distance
print(center_value)
# if (center_value - 1) <= previous_center_value <= (center_value + 1) :
if previous_center_value == center_value:
# use the if between to stop hunting, a few centermeters either way
# should be fine.
# we are driving parallel to walls
# we should be able to drive forward while moving into the middle.
print("parallel to walls {} {}".format(previous_center_value,
center_value))
else:
print("Not parallel to walls {} {}".format(previous_center_value,
center_value))
counter += 1
if counter == 10:
previous_center_value = center_value
counter = 0
# print(counter)
if (center_value < -2) and turning_right == False:
turning_right = True
turning_left = False
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
debug.print_to_all_devices("turnForwardRight", "TrR")
time.sleep(.05)
# drive.forward(dalek_settings.max_speed)
# time.sleep(.05)
if (center_value > 2) and turning_left == False:
turning_left = True
turning_right = False
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
debug.print_to_all_devices("turnForwardLeft", "TrL")
time.sleep(.05)
# drive.forward(dalek_settings.max_speed)
# time.sleep(.05)
# if -2 <= center_value <= 2:
# # if it is between these values
# # straiten up the bot
# if turning_left
arduino_sensor_data.join() # wait for process to finish
debug.print_to_all_devices("Done...")
# GPIO.setup(pinMotorBRSpeed, GPIO.OUT)
# GPIO.setup(pinMotorBRForwards, GPIO.OUT)
# GPIO.setup(pinMotorBRBackwards, GPIO.OUT)
# pwmMotorBRSpeed = GPIO.PWM(pinMotorBRSpeed, Frequency)
# pwmMotorBRSpeed.start(Stop)
#######################
### main
#######################
while True:
# toggle the Back right motor
# GPIO.output(pin_motor_relay, GPIO.HIGH)
# time.sleep(1)
# print("on")
# GPIO.output(pin_motor_relay, GPIO.LOW)
# time.sleep(1)
# print("off")
# pwmMotorBRSpeed.ChangeDutyCycle(Speed)
# GPIO.output(pinMotorBRForwards, GPIO.HIGH)
# GPIO.output(pinMotorBRBackwards, GPIO.LOW)
drive.forward(30)
time.sleep(2)
drive.backward(30)
time.sleep(2)
drive.spinLeft(50)
time.sleep(2)
drive.spinRight(50)
time.sleep(2)
