def generate_path(self, new_destination=None):
"""
Find (or not) the path to the given (or not) destination.
"""
# Set the destination
if isinstance(new_destination, __roundabout__.Roundabout
) and new_destination in __track__.track.roundabouts:
destination = new_destination
else:
# EXPERIMENTAL : leaving nodes only
destination = choice([
roundabout for roundabout in self.track.roundabouts
if len(roundabout.leaving_roads) == 0
])
# Compute the path
# Each car needs its own gps instance to avoid collisions and clean pathfinding
self.gps = __gps__.Gps()
self.path = self.gps.find_path(self.road.start, destination)
self.destination = None
if self.path:
if len(self.path) > 0:
self.destination = destination
def __init__(self):
self.gps = gps.Gps()
self.radio = radio.radio()
#開始時間の記録
self.startTime = time.time()
self.timer = 0
def __init__(self):
#オブジェクトの生成
#self.rightmotor = motor.motor(ct.const.RIGHT_MOTOR_VREF_PIN,ct.const.RIGHT_MOTOR_IN1_PIN,ct.const.RIGHT_MOTOR_IN2_PIN)
#self.leftmotor = motor.motor(ct.const.LEFT_MOTOR_VREF_PIN,ct.const.LEFT_MOTOR_IN1_PIN,ct.const.LEFT_MOTOR_IN2_PIN)
self.gps = gps.Gps()
#self.bno055 = bno055.BNO()
self.radio = radio.radio()
#self.ultrasonic = ultrasonic.Ultrasonic()
#self.RED_LED = led.led(ct.const.RED_LED_PIN)
#self.BLUE_LED = led.led(ct.const.BLUE_LED_PIN)
#self.GREEN_LED = led.led(ct.const.GREEN_LED_PIN)
#開始時間の記録
self.startTime = time.time()
self.timer = 0
"""
def __init__(self,
i2c_bus=100,
i2c_sensors_addr=[0x10, 0x26, 0x61],
gps_port='/dev/ttyACM100',
gps_rate=9600,
gprs_port='/dev/ttyACM200',
gprs_rate=9600,
gprs_apn='tim.com.br'):
self.light_sensor = i2c_sensors.LightSensor(i2c_sensors_addr[0],
i2c_bus)
self.distance_sensor = i2c_sensors.DistanceSensor(
i2c_sensors_addr[1], i2c_bus)
self.battery_sensor = i2c_sensors.BatterySensor(
i2c_sensors_addr[2], i2c_bus)
self.gps_sensor = gps.Gps(gps_port, gps_rate)
self.modem = gprs.Gprs(gprs_port, gprs_rate)
self.modem.open_connection(gprs_apn)
"""
import time
import board
import busio
import air_quality
import gps
import adafruit_bme280
import aio
import adafruit_logging as logging
logger = logging.getLogger('main')
logger.setLevel(logging.INFO)
gps_uart = busio.UART(board.TX, board.RX, baudrate=9600, timeout=3.000)
gps_interface = gps.Gps(gps_uart)
gps_interface.begin()
logger.debug('GPS started')
aio_interface = aio.AIO()
if aio_interface.onboard_esp:
air_uart = busio.UART(board.D5, board.D7, baudrate=9600)
else:
air_uart = busio.UART(board.A2, board.A3, baudrate=9600)
air = air_quality.AirQualitySensor(air_uart)
logger.debug('Air quality sensor started')
i2c = busio.I2C(board.SCL, board.SDA)
def main():
print("Affichage de la distance à la destination et les longitudes.")
myGps = gps.Gps()
myGps.read_next()
myGps.read_next()
print(myGps.longitude())
print(myGps.latitude())
longDest = 1.465776
latDest = 43.561068
lastLong = myGps.longitude()
lastLat = myGps.latitude()
myMotor = mn.Motor()
lastLongDD = gpsD.DmToDD(lastLong[0], lastLong[1])
lastLatDD = gpsD.DmToDD(lastLat[0], lastLat[1])
lastLatDD_minus1 = lastLatDD
lastLongDD_minus1 = lastLongDD
while (gpsD.haversine(lastLongDD, lastLatDD, longDest, latDest) > 5):
distance = gpsD.haversine(lastLongDD, lastLatDD, longDest, latDest)
print('########################################################')
print('# Distance à la destination: ' + str(distance) + ' métres')
print('# Longitude actuelle: ' + str(lastLongDD) +
' Latitude actuelle: ' + str(lastLatDD) +
'\n# Longitude destination: ' + str(longDest) +
' Latitude destination: ' + str(latDest))
print('########################################################')
myMotor.forward(102)
# Correction de la trajectoire
orientationActuelle = gpsD.DegreeBearing(lastLatDD_minus1,
lastLongDD_minus1, lastLatDD,
lastLongDD)
orientationNeeded = gpsD.DegreeBearing(lastLatDD, lastLongDD, latDest,
longDest)
deltaToCorrect = (orientationNeeded + 360 - orientationActuelle) % 360
print("--------------------------------------------------------")
print(" Orientation ACTUELLE : " + str(orientationActuelle))
print(" Orientation Dont ON a besoin : " + str(orientationNeeded))
print(" Difference à Corriger " + str(deltaToCorrect))
print("--------------------------------------------------------")
angleDefaut = orientationActuelle - orientationNeeded
if angleDefaut > 180:
angleDefaut = angleDefaut - 360
elif angleDefaut < -180:
angleDefaut = angleDefaut + 360
angleDeltaErreur = 10
if angleDefaut > 0 and angleDefaut > angleDeltaErreur:
#-tourner a gauche
myMotor.left()
time.sleep(0.5)
pass
elif angleDefaut < 0 and angleDefaut > -angleDeltaErreur:
# Tourner a droite
myMotor.right()
time.sleep(0.5)
else:
myMotor.straigth_wheel()
time.sleep(0.5)
time.sleep(1)
# Interogation du gps
myGps.read_next()
# Récupération de nouvelles coordonnées
lastLong = myGps.longitude()
lastLat = myGps.latitude()
# Sauvegade des ancienne coordonnée pour connaitre ma direction à l'instant t
lastLongDD_minus1 = lastLongDD
lastLatDD_minus1 = lastLatDD
# COnvertion en Degrées décimaux
lastLongDD = gpsD.DmToDD(lastLong[0], lastLong[1])
lastLatDD = gpsD.DmToDD(lastLat[0], lastLat[1])
myMotor.stop()
print(myGps.longitude())
print(myGps.latitude())
def __init__(self):
self.gps = gps.Gps()
