def _parse_config(self, config):
"""
Parses config dictionary and registers peripherals.
Args:
config (dict): Dictionary of config information.
"""
self.actuators["left"] = config["actuators"][0]
self.actuators["right"] = config["actuators"][1]
self.motors = HBridge(
HBridgeOut(self.actuators["left"]["pinPWM"],
self.actuators["left"]["pinHighLow"],
self.actuators["right"]["pinPWM"],
self.actuators["right"]["pinHighLow"]))
self.stop()
#Starts wheels
wheelEnabler = DigitalOutput(config["wheelEnablerPin"])
wheelEnabler.set_high()
#Add color sensors
for sensor in config["colorsensors"]:
name = sensor["name"]
pin = sensor["pin"]
self.sensors[name] = ColorSensor(name, pin)
#Add analog sensors
for sensor in config["analogsensors"]:
name = sensor["name"]
pin = sensor["pin"]
self.sensors[name] = AnalogSensor(name, pin)
def test_pivotleft(self):
""" Tests to make sure turns left correctly """
hbridge = HBridge(DigitalOutput(10),
PWM(13),
DigitalOutput(24),
PWM(18))
hbridge.set_speed(0, 1)
self.assertEqual(hbridge.left_pin.state, 0)
self.assertEqual(hbridge.left_pwm.duty_cycle, 1)
self.assertEqual(hbridge.right_pin.state, 0)
self.assertEqual(hbridge.right_pwm.duty_cycle, 0)
def test_backward(self):
""" Tests to make sure moves backward correctly """
hbridge = HBridge(DigitalOutput(10),
PWM(13),
DigitalOutput(24),
PWM(18))
hbridge.set_speed(-1, -1)
self.assertEqual(hbridge.left_pin.state, 1)
self.assertEqual(hbridge.left_pwm.duty_cycle, 1)
self.assertEqual(hbridge.right_pin.state, 1)
self.assertEqual(hbridge.right_pwm.duty_cycle, 1)
def test_initially_stopped(self):
""" Test bot is in stopped state """
hbridge = HBridge(DigitalOutput(10),
PWM(13),
DigitalOutput(24),
PWM(18))
hbridge.set_speed(0,0)
self.assertEqual(hbridge.left_pin.state, 0)
self.assertEqual(hbridge.left_pwm.duty_cycle, 1)
self.assertEqual(hbridge.right_pin.state, 0)
self.assertEqual(hbridge.right_pwm.duty_cycle, 1)
class Bot():
"""
Minibot object class.
Keeps track of the BotState (orientation, location, etc.) of the instance of MiniBot.
"""
def __init__(self, config):
"""
Constructor for minibot.
Args:
config (dict): Dictionary of config information for bot hardware.
"""
self.name = config['name']
self.state = BotState()
self.sensors = {}
self.actuators = {}
self.motors = None
self._parse_config(config)
# queue for extra unrecognized commands by parser
self.extraCMD = Queue()
def _parse_config(self, config):
"""
Parses config dictionary and registers peripherals.
Args:
config (dict): Dictionary of config information.
"""
self.actuators["left"] = config["actuators"][0]
self.actuators["right"] = config["actuators"][1]
self.motors = HBridge(
HBridgeOut(self.actuators["left"]["pinPWM"],
self.actuators["left"]["pinHighLow"],
self.actuators["right"]["pinPWM"],
self.actuators["right"]["pinHighLow"]))
self.stop()
#Starts wheels
wheelEnabler = DigitalOutput(config["wheelEnablerPin"])
wheelEnabler.set_high()
#Add color sensors
for sensor in config["colorsensors"]:
name = sensor["name"]
pin = sensor["pin"]
self.sensors[name] = ColorSensor(name, pin)
#Add analog sensors
for sensor in config["analogsensors"]:
name = sensor["name"]
pin = sensor["pin"]
self.sensors[name] = AnalogSensor(name, pin)
def get_state(self):
"""
Gets the BotState of the minibot.
Returns:
BotState of the minibot.
"""
return self.state
def stop(self):
"""
Moves the bot forward at a percentage of its full power
:param power The percentage of the bot's power to use from 0-100
:return True if the action is supported
"""
self.motors.set_speed(0, 0)
def move_forward(self, power):
"""
Moves the bot forward at a percentage of its full power
:param power The percentage of the bot's power to use from 0-100
:return True if the action is supported
"""
self.motors.set_speed(power, power)
def move_backward(self, power):
"""
Moves the bot backward at a percentage of its full power
:param power The percentage of the bot's power to use from 0-100
:return True if the action is supported
"""
self.motors.set_speed(-power, -power)
def turn_clockwise(self, power):
"""
Moves the bot clockwise at a percentage of its full power
:param power The percentage of the bot's power to use from 0-100
:return True if the action is supported
"""
self.motors.set_speed(power, -power)
def turn_counter_clockwise(self, power):
"""
Moves the bot counter-clockwise at a percentage of its full power
:param power The percentage of the bot's power to use from 0-100
:return True if the action is supported
"""
self.motors.set_speed(-power, power)
def set_wheel_power(self, left, right):
"""
Sets the power of the bot's wheels as a percentage from -100 to 100. If a wheel
specified does not exist, the power for that wheel is ignored.
:param front_left power to deliver to the front_left wheel
:param front_right power to deliver to the front_right wheel
:param back_left power to deliver to the back_left wheel
:param back_right power to deliver to the back_right wheel
:return True if the action is supported
"""
self.motors.set_speed(left, right)
def wait(self, t):
"""
Waits for a duration in seconds.
:param t The duration in seconds
"""
time.sleep(t)
def register_actuator(self, actuator):
"""
Stores actuator object
:param actuator object
"""
self.actuators[actuator.name] = actuator
def register_sensor(self, sensor):
"""
Stores sensor object
:param sensor object
"""
self.sensors[sensor.name] = sensor
def get_actuator_by_name(self, name):
"""
Returns actuator object
:param name name of the actuator
"""
return self.actuators[name]
def get_sensor_by_name(self, name):
"""
Returns sensor object
:param name name of the sensor
"""
return self.sensors[name]
def get_all_actuators(self):
"""
Returns all actuators in a list
"""
return self.actuators.values()
def get_all_sensors(self):
"""
Returns all sensors in a list
"""
return self.sensors.values()
def get_motors(self):
"""
Returns motor object
"""
return self.motors
def poll_sensors(self):
"""
Reads values from all sensors
"""
data = {}
for sensor in self.sensors:
data[sensor] = self.sensors[sensor].read()
return data