class Driver(): # Wheel motors left=None right=None # Sensors gyro=None # Paras Rrio=2.15 # R_robot/R_wheel: 60/28=2.14285 Wper=175.93 # perimeter of the powering wheels: 175.92919 mm # Configs angle=240 rmp_sp=200 run_sp=500 # running speed t_sp=400 # turning speed t_accuracy=2 # turning accuracy for Gyro, in degree r_accuracy=5 # running accuracy for Motor position, in degree adjust_sp = [100, 50] def __init__(self): self.left=Motor(port=Motor.PORT.B) self.right=Motor(port=Motor.PORT.C) self.reset() self.gyro=Gyro() def reset(self): self.left.reset() self.right.reset() def runForward(self): self.reset() self.left.setup_forever(self.run_sp,speed_regulation = True) self.right.setup_forever(self.run_sp,speed_regulation = True) self.left.start() self.right.start() def forwardbyDistance(self, dist): # distance must be in cm, and positive if (dist == 0): return angle = int(abs(dist*10)/self.Wper*360) self.forwardbyAngle(angle) #self.forwardbySecond() def forwardbyAngle(self, angle): angtruth = [0, 0] angtmp = [angle, angle] # moving and adjusting loop loop_counter = 0; while(abs(angtmp[0])>=self.r_accuracy and abs(angtmp[1]) >=self.r_accuracy): angtruth = self.oneAngleForward(angtmp[0], angtmp[1]) angtmp[0]=angtmp[0]-angtruth[0] angtmp[1]=angtmp[1]-angtruth[1] print "fore New angtmp: "+ str(angtmp) def oneAngleForward(self, left_ang, right_ang): # run the main movement self.reset() self.left.setup_position_limited(position_sp=left_ang, speed_sp=self.run_sp, stop_mode=Motor.STOP_MODE.HOLD, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.right.setup_position_limited(position_sp=right_ang, speed_sp=self.run_sp, stop_mode=Motor.STOP_MODE.HOLD, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.left.start() self.right.start() time.sleep(10) # need to figure out how much needed self.stop() # adjust using low speed mode for v_adj in self.adjust_sp: self.left.setup_position_limited(position_sp=left_ang, speed_sp=v_adj, stop_mode=Motor.STOP_MODE.HOLD, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.right.setup_position_limited(position_sp=right_ang, speed_sp=v_adj, stop_mode=Motor.STOP_MODE.HOLD, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.left.start() self.right.start() time.sleep(1) return [self.left.position, self.right.position] def forwardbySecond(self, sec): self.reset(); self.left.setup_time_limited(time_sp=sec, speed_sp=self.run_sp, speed_regulation=True) self.right.setup_time_limited(time_sp=sec, speed_sp=self.run_sp, speed_regulation=True) self.left.start() self.right.start() time.sleep(sec) self.stop() def runBackward(self): self.reset() self.left.setup_forever(-self.run_sp,speed_regulation=True) self.right.setup_forever(-self.run_sp,speed_regulation=True) self.left.start() self.right.start() def backwardbyDistance(self, dist): # distance must be in cm, and positive if (dist == 0): return angle = -int(abs(dist*10)/self.Wper*360) self.backwardbyAngle(angle) def backwardbyAngle(self, angle): angtruth = [0, 0] angtmp = [angle, angle] # moving and adjusting loop while(abs(angtmp[0])>=self.r_accuracy and abs(angtmp[1]) >=self.r_accuracy): angtruth = self.oneAngleForward(angtmp[0], angtmp[1]) angtmp[0] = angtmp[0]+angtruth[0] angtmp[1] = angtmp[1]+angtruth[1] print "back New angtmp: "+ str(angtmp) def oneAngleBackward(self, left_ang, right_ang): self.reset() self.left.setup_position_limited(position_sp=-left_ang, speed_sp=self.run_sp, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.right.setup_position_limited(position_sp=-right_ang, speed_sp=self.run_sp, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.left.start() self.right.start() time.sleep(10) self.stop() # adjust using low speed mode for v_adj in self.adjust_sp: self.left.setup_position_limited(position_sp=-left_ang, speed_sp=v_adj, stop_mode=Motor.STOP_MODE.HOLD, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.right.setup_position_limited(position_sp=-right_ang, speed_sp=v_adj, stop_mode=Motor.STOP_MODE.HOLD, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.left.start() self.right.start() time.sleep(1) return [self.left.position, self.right.position] def turnRightbyAngle(self, ang): angtruth = 0 angtmp = ang # moving and adjusting loop while (abs(angtmp)>self.t_accuracy): angtruth=self.oneAngleTurnRight(angtmp) angtmp=angtmp-angtruth #print "Diff: "+str(angtmp) def oneAngleTurnRight(self, ang): before=self.gyro.readAngle() #print "Before right turn: "+str(before) self.reset() self.left.setup_position_limited(position_sp=int(ang*self.Rrio), speed_sp=self.t_sp, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.right.setup_position_limited(position_sp=-int(ang*self.Rrio), speed_sp=self.t_sp, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.left.start() self.right.start() time.sleep(2) self.stop() after=self.gyro.readAngle() #print "After right turn: "+str(after) return after - before def turnLeftbyAngle(self, ang): angtruth = 0 angtmp = ang # moving and adjusting loop while (abs(angtmp)>self.t_accuracy): angtruth=self.oneAngleTurnLeft(angtmp) angtmp=angtmp+angtruth print "Diff: "+str(angtmp) def oneAngleTurnLeft(self, ang): before=self.gyro.readAngle() #print "Before right turn: "+str(before) self.reset() self.right.setup_position_limited(position_sp=int(ang*self.Rrio), speed_sp=self.t_sp, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.left.setup_position_limited(position_sp=-int(ang*self.Rrio), speed_sp=self.t_sp, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp) self.right.start() self.left.start() time.sleep(2) self.stop() after=self.gyro.readAngle() #print "After right turn: "+str(after) return after - before def stop(self): self.left.stop() self.right.stop()
def __init__(self): self.left=Motor(port=Motor.PORT.B) self.right=Motor(port=Motor.PORT.C) self.reset() self.gyro=Gyro()