Python getSonarSingle Examples

Example #1

File: challenge.py Project: dsl12/lego_storm

def routineMid():
    robot.sonarSpin(-angle)
    robot.followWallLeft(half-earlystop, diswall)
    robot.sonarSpin(-(90-angle)) # look at right wall 
    runToWallAt21()

    robot.turnRightDeg(90)
    distance = robot.getSonarSingle() - 21

    robot.sonarSpin((90-angle)) 

    robot.followWallLeft(distance,diswall)
    print "!! I AM AT POINT 1 !!"
    time.sleep(1)

    robot.sonarSpin(angle*2)
    robot.followWallBackwards(small,diswall)
    robot.turnLeftDeg(90)
    robot.followWallBackwards(full-earlystop, diswall)
    robot.sonarSpin((90-angle)) # look at right wall 
    runToWallAt21(-1)
   
    robot.turnLeftDeg(90)
    distance = robot.getSonarSingle() - 21 + 2 
    robot.sonarSpin(-(90-angle))

    robot.followWallBackwards(distance, diswall)
    print "!! I AM AT POINT 3 !!"
    time.sleep(1)

    robot.sonarSpin(-angle*2)
    robot.followWallLeft(small,diswall)
    robot.turnRightDeg(90)
    
    robot.followWallLeft(half/2,diswall)
    robot.sonarSpin(90+angle)
    distance = half_fromwall - robot.getSonarSingle()
    robot.sonarSpin(-(90+angle))
    robot.followWallLeft(distance, diswall)

    robot.turnRightDeg(90)

    robot.sonarSpin(-(90-angle)) # 
    runToWallAt21()

    print "!! I AM AT POINT 2 !!"

Example #2

def routineMid():
    robot.sonarSpin(-angle)
    robot.followWallLeft(half - earlystop, diswall)
    robot.sonarSpin(-(90 - angle))  # look at right wall
    runToWallAt21()

    robot.turnRightDeg(90)
    distance = robot.getSonarSingle() - 21

    robot.sonarSpin((90 - angle))

    robot.followWallLeft(distance, diswall)
    print "!! I AM AT POINT 1 !!"
    time.sleep(1)

    robot.sonarSpin(angle * 2)
    robot.followWallBackwards(small, diswall)
    robot.turnLeftDeg(90)
    robot.followWallBackwards(full - earlystop, diswall)
    robot.sonarSpin((90 - angle))  # look at right wall
    runToWallAt21(-1)

    robot.turnLeftDeg(90)
    distance = robot.getSonarSingle() - 21 + 2
    robot.sonarSpin(-(90 - angle))

    robot.followWallBackwards(distance, diswall)
    print "!! I AM AT POINT 3 !!"
    time.sleep(1)

    robot.sonarSpin(-angle * 2)
    robot.followWallLeft(small, diswall)
    robot.turnRightDeg(90)

    robot.followWallLeft(half / 2, diswall)
    robot.sonarSpin(90 + angle)
    distance = half_fromwall - robot.getSonarSingle()
    robot.sonarSpin(-(90 + angle))
    robot.followWallLeft(distance, diswall)

    robot.turnRightDeg(90)

    robot.sonarSpin(-(90 - angle))  #
    runToWallAt21()

    print "!! I AM AT POINT 2 !!"

Example #3

File: challenge.py Project: dsl12/lego_storm

def routineRight():
    robot.sonarSpin(angle)
    robot.followWallBackwards(half/2, diswall)
    robot.sonarSpin(-(90+angle))
    distance = half_fromwall - robot.getSonarSingle()
    robot.sonarSpin(90+angle)
    robot.followWallBackwards(distance, diswall)
    robot.turnRightDeg(90)
    #turn sonar to wall and take measurement
    robot.sonarSpin(-(90+angle)) # i am looking at small wall
    runToWallAt21() 
    print "!! I AM AT POINT 2 !!"
    time.sleep(1)

    robot.forward(-42)
    robot.turnLeftDeg(90)
    robot.sonarSpin(90+angle)# turn back to look at left wall

    robot.followWallBackwards(half-earlystop, diswall)
    robot.sonarSpin(90-angle) # look at right wall 
    runToWallAt21(-1)

    robot.turnLeftDeg(90)
    distance = robot.getSonarSingle() - 21 + 2 
    robot.sonarSpin(-(90-angle)) #turn back for wall following

    robot.followWallBackwards(distance, diswall)
    print "!! I AM AT POINT 3 !!"
    time.sleep(1)

    robot.sonarSpin(-(angle*2))
    robot.followWallLeft(small,diswall)
    robot.turnRightDeg(90)
    robot.followWallLeft(full-earlystop, diswall)
    
    robot.sonarSpin(-(90-angle)) # look at right wall 
    runToWallAt21()

    robot.turnRightDeg(90)
    distance = robot.getSonarSingle() - 21
    robot.sonarSpin(90-angle) #turn back for wall following
    
    robot.followWallLeft(distance, diswall)
    print "!! I AM AT POINT 1 !!"

Example #4

def routineRight():
    robot.sonarSpin(angle)
    robot.followWallBackwards(half / 2, diswall)
    robot.sonarSpin(-(90 + angle))
    distance = half_fromwall - robot.getSonarSingle()
    robot.sonarSpin(90 + angle)
    robot.followWallBackwards(distance, diswall)
    robot.turnRightDeg(90)
    #turn sonar to wall and take measurement
    robot.sonarSpin(-(90 + angle))  # i am looking at small wall
    runToWallAt21()
    print "!! I AM AT POINT 2 !!"
    time.sleep(1)

    robot.forward(-42)
    robot.turnLeftDeg(90)
    robot.sonarSpin(90 + angle)  # turn back to look at left wall

    robot.followWallBackwards(half - earlystop, diswall)
    robot.sonarSpin(90 - angle)  # look at right wall
    runToWallAt21(-1)

    robot.turnLeftDeg(90)
    distance = robot.getSonarSingle() - 21 + 2
    robot.sonarSpin(-(90 - angle))  #turn back for wall following

    robot.followWallBackwards(distance, diswall)
    print "!! I AM AT POINT 3 !!"
    time.sleep(1)

    robot.sonarSpin(-(angle * 2))
    robot.followWallLeft(small, diswall)
    robot.turnRightDeg(90)
    robot.followWallLeft(full - earlystop, diswall)

    robot.sonarSpin(-(90 - angle))  # look at right wall
    runToWallAt21()

    robot.turnRightDeg(90)
    distance = robot.getSonarSingle() - 21
    robot.sonarSpin(90 - angle)  #turn back for wall following

    robot.followWallLeft(distance, diswall)
    print "!! I AM AT POINT 1 !!"

Example #5

def runToWallAt21(forward=1):  # -1 for backward
    toWall = robot.getSonarSingle() + 5 - 21
    if forward == -1:
        toWall -= 2
    print "still need = " + str(toWall)
    robot.forward(toWall * forward)

Example #6

File: challenge.py Project: dsl12/lego_storm

def runToWallAt21(forward=1): # -1 for backward
    toWall = robot.getSonarSingle() + 5 - 21
    if forward == -1:
        toWall -= 2
    print "still need = " + str(toWall)
    robot.forward(toWall*forward)