class TankController():
""" タンクコントローラー """
def __init__(self):
self.mc = MotorController()
self.gt = getTargetThread()
self.excutor = concurrent.futures.ThreadPoolExecutor(max_workers=1)
self.excutor.submit(self.turret_move)
self.lock = threading.Lock()
#
# 以下戦車の動作
#
def tank_go_forward(self):
# 前進
print("exec: ", sys._getframe().f_code.co_name)
self.mc.forwardMotor1A(50)
self.mc.forwardMotor1B(50)
def tank_go_backward(self):
# 後退
print("exec: ", sys._getframe().f_code.co_name)
self.mc.reverseMotor1A(50)
self.mc.reverseMotor1B(50)
def tank_stop(self):
# 停止
print("exec: ", sys._getframe().f_code.co_name)
self.mc.breakMotor1A()
self.mc.breakMotor1B()
def tank_turn_right(self):
# 右旋回
print("exec: ", sys._getframe().f_code.co_name)
self.mc.reverseMotor1A(50)
self.mc.forwardMotor1B(50)
def tank_turn_left(self):
# 左旋回
print("exec: ", sys._getframe().f_code.co_name)
self.mc.forwardMotor1A(50)
self.mc.reverseMotor1B(50)
#
# 以下砲台
#
def turret_follow(self):
# 標的追尾開始
print("exec: ", sys._getframe().f_code.co_name)
self.gt.FollowStart()
def turret_unfollow(self):
# 標的追尾停止
print("exec: ", sys._getframe().f_code.co_name)
self.gt.FollowStop()
def turret_shoot(self):
# BB弾発射
print("exec: ", sys._getframe().f_code.co_name)
self.mc.forwardMotor2A(100)
time.sleep(5)
self.mc.breakMotor2A()
def turret_move(self):
# 砲台の旋回
# getTargetThreadから標的の位置情報をもらって砲台を旋回させる。
while True:
TurretLeft = 0
TurretRight = 0
TurretLeft = self.gt.GetInfoTurretTurnLeft()
TurretRight = self.gt.GetInfoTurretTurnRight()
# print('turret left %1.2f right %1.2f' %(TurretLeft,TurretRight))
# 時間計測開始
start = time.time()
print('tank_ctrl:logtime1 start')
if TurretLeft != 0:
self.lock.acquire()
self.mc.forwardMotor2B(40)
# print("turret:turnning left")
time.sleep(TurretLeft)
self.mc.breakMotor2B()
self.gt.ClearInfoTurretTurnLeft()
self.lock.release()
elif TurretRight != 0:
self.lock.acquire()
self.mc.reverseMotor2B(40)
# print("turret:turnning Right")
time.sleep(TurretRight)
self.mc.breakMotor2B()
self.gt.ClearInfoTurretTurnRight()
self.lock.release()
else:
# print("turret:No Action")
time.sleep(0.5)
time2 = time.time() - start
print('tank_ctrl:logtime2 %1.2f sec' % (time2))