def __init__(self):
# Provides access to:
# 1) Color sensor data, 2) SPI functions, 3) bump switch
self.controller = RobotController()
# ROS Subscribers
rospy.Subscriber("std_msgs/Byte", Byte, self._receiveCartArray)
rospy.Subscriber("std_msgs/Bool", Bool, self._alignedWithBlocks)
# Initialize robot in stopped position
self.controller.SetNavCommand(46)
# Initialize color sensors
self.controller.scanBlocks()
# Rail Cart Attributes
self.cartArray = [None] * 4 # Rail cart order array
self.cartNum = 0 # Current car
self.count = 0 # Tracks cart # in ROS topic transfer
self.state = 1 # The current state of the robot
self.previousState = 1 # The previous state of the robot
self.scanComplete = False # "True" if the rail cart scan is done
self.allCartsInFrame = False # "True" if frame contains all railcarts
self.blocksAligned = False # "True" if robot is aligned with blocks
self.alignedWithCart = False # "True" if
self.collectionCount = 0 # Keep track of number of collections
self.top = True
self.colorSensorArray = [0,0,0,0,0,0,0,0]
self.colorSensorArray_Front = [0,0,0,0]
self.colorSensorArray_Back = [0,0,0,0]
class Autonomy(object):
def __init__(self):
# Provides access to:
# 1) Color sensor data, 2) SPI functions, 3) bump switch
self.controller = RobotController()
# ROS Subscribers
rospy.Subscriber("std_msgs/Byte", Byte, self._receiveCartArray)
rospy.Subscriber("std_msgs/Bool", Bool, self._alignedWithBlocks)
# Initialize robot in stopped position
self.controller.SetNavCommand(46)
# Initialize color sensors
self.controller.scanBlocks()
# Rail Cart Attributes
self.cartArray = [None] * 4 # Rail cart order array
self.cartNum = 0 # Current car
self.count = 0 # Tracks cart # in ROS topic transfer
self.state = 1 # The current state of the robot
self.previousState = 1 # The previous state of the robot
self.scanComplete = False # "True" if the rail cart scan is done
self.allCartsInFrame = False # "True" if frame contains all railcarts
self.blocksAligned = False # "True" if robot is aligned with blocks
self.alignedWithCart = False # "True" if
self.collectionCount = 0 # Keep track of number of collections
self.top = True
self.colorSensorArray = [0,0,0,0,0,0,0,0]
self.colorSensorArray_Front = [0,0,0,0]
self.colorSensorArray_Back = [0,0,0,0]
#__________________________________________________________________________
#
# Full Course State Machine
#__________________________________________________________________________
def runCourse(self, firstState = 1):
self.state = firstState
while(self.state != -1):
# --------------------------------------
# Drive forward until first bump occurs
# --------------------------------------
if self.state == 1:
print "Driving through tunnel"
self.state = self.bumpState(76, 25, 2)
# ----------------------------------------
# Prepare to scan QR codes
# ----------------------------------------
elif self.state == 2:
print "Preparing to scan QR codes"
# Backup away frtom platform
self.controller.SetNavCommand(108)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.25)
# Raise from 5 to 10 inches
self.controller.SetNavCommand(50)
time.sleep(5.0)
self.controller.SetNavCommand(54)
time.sleep(8.0)
self.previousState = 2
self.state = 3
# ---------------------------------------------
# Begin scanning for QR codes and moving left
# ---------------------------------------------
elif self.state == 3:
print "Scanning for QR codes"
# Start scanning for QR codes from right to left
self.processVideo(2)
# Begin moving left
self.controller.SetNavCommand(136)
self.state = 4
# -----------------------------
# Checking alignment
# -----------------------------
elif self.state == 4:
if (self.blocksAligned == True):
print "Blocks detected"
self.controller.SetNavCommand(46)
time.sleep(0.25)
self.blocksAligned = False
self.state = 5
elif self.blocksAligned == False:
self.state = 4
# ----------------------------------------
# Raise gate and prepare to collect blocks
# ----------------------------------------
elif self.state == 5:
print "Raising gate"
# Raise gate
self.controller.SetSortCommand(5)
time.sleep(0.5)
self.controller.SetSortCommand(5)
time.sleep(4.0)
self.state = self.bumpState(72, 10, 6)
# ----------------------------------------
# Collect blocks
# ----------------------------------------
elif self.state == 6:
print "Collecting blocks"
self.controller.SetSortCommand(39)
time.sleep(0.5)
self.controller.SetSortCommand(39)
time.sleep(10.0)
# Increment collection counter
self.collectionCount += 1
# Blue blocks only. Color sensors not needed.
if self.collectionCount == 2:
self.colorSensorArray = [1,1,1,1,1,1,1,1]
self.state = 21
elif self.collectionCount == 3:
# Backup from platform
self.controller.SetNavCommand(108)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.25)
# Rotate left 180 degrees
self.controller.SetNavCommand(236)
time.sleep(2.9)
self.controller.SetNavCommand(46)
time.sleep(0.25)
self.state = 25
else:
# Backup from platform
self.controller.SetNavCommand(108)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.25)
# Lower to 5 inches
self.controller.SetNavCommand(58)
time.sleep(5.0)
self.controller.SetNavCommand(62)
time.sleep(8.0)
# Rotate left 90 degrees
self.controller.SetNavCommand(236)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.25)
# Move right into wall
self.controller.SetNavCommand(172)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.25)
# Move left off wall
self.controller.SetNavCommand(140)
time.sleep(0.25)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.state = 7
# ---------------------------------------------
# Appraoch first rail cart
# ---------------------------------------------
elif self.state == 7:
print "Positioning for rail cart scan"
self.cartNum = 0
self.state = self.bumpState(76, 5.0, 8)
# ----------------------------------------
# Backup from cart
# ----------------------------------------
elif self.state == 8:
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.controller.SetNavCommand(172)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.state = 9
# ----------------------------------------
# Scan individual rail car
# ----------------------------------------
elif self.state == 9:
print "Scanning rail carts"
# Scan rail car
time.sleep(2.0)
self.processVideo(7)
self.state = 10
# ---------------------------------------
# Create cart array when scan is complete
# ---------------------------------------
elif self.state == 10:
if self.scanComplete == False:
# Continue with scan
pass
elif self.scanComplete == True:
self.cartNum += 1
print "Rail car array: ", self.cartArray
self.scanComplete = False
self.state = 11
# ----------------------------------------
# Backup from cart
# ----------------------------------------
elif self.state == 11:
if self.cartNum != 4:
# Move left
self.controller.SetNavCommand(140)
time.sleep(2.0)
self.controller.SetNavCommand(46)
time.sleep(2.0)
self.state = 9
else:
self.controller.SetNavCommand(108)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate left 90 degrees
self.controller.SetNavCommand(204)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.state = self.bumpState(76, 7.0, 12)
# ---------------------------------------
# Prepare to align with first cart
# ---------------------------------------
elif self.state == 12:
# Backup from platform
self.controller.SetNavCommand(108)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate left 90 degrees
self.controller.SetNavCommand(236)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right into wall
self.controller.SetNavCommand(172)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left off wall
self.controller.SetNavCommand(140)
time.sleep(0.25)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.controller.SetNavCommand(50)
# Raise from 5 to 10 inches
self.controller.SetNavCommand(50)
time.sleep(5.0)
self.controller.SetNavCommand(54)
time.sleep(8.0)
self.state = self.bumpState(72, 5.0, 14)
# Pause For Manual Loading
print "Scanning blocks onboard"
self.colorSensorArray = self.controller.scanBlocks()
#time.sleep(20.0)
time.sleep(1.0)
self.colorSensorArray = self.controller.scanBlocks()
self.top = True
# ---------------------------------------
# Create Color Sensor Array
# ---------------------------------------
elif self.state == 14:
print "All: ",self.colorSensorArray
# Create front array and back array
for sensor in xrange(len(self.colorSensorArray)):
if (sensor % 2) == 0:
self.colorSensorArray_Front[sensor/2] = self.colorSensorArray[sensor]
elif (sensor % 2) == 1:
self.colorSensorArray_Back[(sensor-1)/2] = self.colorSensorArray[sensor]
print "Front:",self.colorSensorArray_Front
print "Back: ",self.colorSensorArray_Back
self.cartNum = 0
self.state = 15
# ---------------------------------------
# First Cart position 1
# ---------------------------------------
elif self.state == 15:
print "First Position", self.cartNum + 1
#Check channel 3
if (self.colorSensorArray_Front[2] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[2] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Front[2] != 5):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject FULL block
time.sleep(3.0)
self.blockEject(2,True,self.top)
print "Ejecting ", self.colorSensorArray_Front[2], " in channel 3"
time.sleep(1.5)
self.controller.SetSortCommand(6)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[2] = 5
self.colorSensorArray_Back[2] = 5
elif (self.colorSensorArray_Front[2] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[2] != self.cartArray[self.cartNum]):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject HALF block
time.sleep(3.0)
self.blockEject(2,False,self.top)
print "Ejecting ", self.colorSensorArray_Front[2], " in channel 3"
time.sleep(1.5)
self.controller.SetSortCommand(6)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[2] = self.colorSensorArray_Back[2]
self.colorSensorArray_Back[2] = 5
#Check channel 4
if (self.colorSensorArray_Front[3] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[3] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Front[3] != 5):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject FULL block
time.sleep(3.0)
self.blockEject(3,True,self.top)
print "Ejecting ", self.colorSensorArray_Front[3], " in channel 4"
time.sleep(1.5)
self.controller.SetSortCommand(6)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[3] = 5
self.colorSensorArray_Back[3] = 5
elif (self.colorSensorArray_Front[3] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[3] != self.cartArray[self.cartNum]):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject HALF block
time.sleep(3.0)
self.blockEject(3,False,self.top)
print "Ejecting ", self.colorSensorArray_Front[3], " in channel 4"
time.sleep(1.5)
self.controller.SetSortCommand(6)
time.sleep(0.5)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[3] = self.colorSensorArray_Back[3]
self.colorSensorArray_Back[3] = 5
# Backup from first rail cart
self.controller.SetNavCommand(108)
time.sleep(0.75)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Adjust on wall after first cart
if self.cartNum == 0:
self.controller.SetNavCommand(172)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left
self.controller.SetNavCommand(140)
time.sleep(1.12)
self.controller.SetNavCommand(46)
time.sleep(0.5)
else:
# Move left
self.controller.SetNavCommand(140)
time.sleep(1.15)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.controller.SetNavCommand(72)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.controller.SetNavCommand(204)
time.sleep(0.15)
self.controller.SetNavCommand(46)
time.sleep(0.5)
if (self.checkBlockArray()):
self.state = 16
else:
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.state = 17
# ---------------------------------------
# First cart position 2
# ---------------------------------------
elif self.state == 16:
# SECOND POSITION
print "SECOND POSITION CART", self.cartNum + 1
#Check channel 1
if (self.colorSensorArray_Front[0] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[0] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Front[0] != 5):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject FULL block
time.sleep(3.0)
self.blockEject(0,True,self.top)
print "Ejecting ", self.colorSensorArray_Front[0], " in channel 1"
time.sleep(1.5)
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[0] = 5
self.colorSensorArray_Back[0] = 5
elif (self.colorSensorArray_Front[0] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[0] != self.cartArray[self.cartNum]):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject HALF block
time.sleep(3.0)
self.blockEject(0,False,self.top)
print "Ejecting ", self.colorSensorArray_Front[0], " in channel 1"
time.sleep(1.5)
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[0] = self.colorSensorArray_Back[0]
self.colorSensorArray_Back[0] = 5
#Check channel 2
if (self.colorSensorArray_Front[1] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[1] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Front[1] != 5):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject FULL block
time.sleep(3.0)
self.blockEject(1,True,self.top)
print "Ejecting ", self.colorSensorArray_Front[1], " in channel 2"
time.sleep(1.5)
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[1] = 5
self.colorSensorArray_Back[1] = 5
elif (self.colorSensorArray_Front[1] == self.cartArray[self.cartNum]) and (self.colorSensorArray_Back[1] != self.cartArray[self.cartNum]):
self.controller.SetSortCommand(5)
#Raise Gate
self.controller.SetSortCommand(5)
# Eject HALF block
time.sleep(3.0)
self.blockEject(1,False,self.top)
print "Ejecting ", self.colorSensorArray_Front[1], " in channel 2"
time.sleep(1.5)
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(3.0)
# Insert ejected value into color sensor array
self.colorSensorArray_Front[1] = self.colorSensorArray_Back[1]
self.colorSensorArray_Back[1] = 5
self.cartNum += 1
# Close
self.controller.SetSortCommand(4)
time.sleep(1.0)
if (self.checkBlockArray()):
if (self.cartNum == 4):
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# END
self.state = 17
else:
# Back up
self.controller.SetNavCommand(108)
time.sleep(0.75)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left
self.controller.SetNavCommand(140)
time.sleep(0.7)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Run sonar
self.controller.SetNavCommand(72)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.state = 15
#self.state = self.bumpState(76, 15)
else:
self.state = 17
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# ------------------------------------
# Move back to beginning of rail carts
# ------------------------------------
elif self.state == 17:
# Rotate right 90 degrees
self.controller.SetNavCommand(204)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.state = self.bumpState(76, 20, 18)
# -----------------------------------
# Face first rail cart
# -----------------------------------
elif self.state == 18:
# Back up from wall
self.controller.SetNavCommand(108)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate left 90 degrees
self.controller.SetNavCommand(236)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right into wall
self.controller.SetNavCommand(172)
time.sleep(2.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.controller.SetNavCommand(136)
time.sleep(0.5)
# Stop
self.controller.SetNavCommand(46)
time.sleep(1.0)
self.state = self.bumpState(76, 3, 19)
# --------------------------------
# Check blocks onboard
# --------------------------------
elif self.state == 19:
if self.top:
if (self.checkBlockArray()):
#self.state = self.bumpState(76, 15)
self.state = 15
self.cartNum = 0
else:
if (self.checkForError()):
self.controller.SetSortCommand(5)
time.sleep(0.5)
self.controller.SetSortCommand(5)
time.sleep(1.0)
self.controller.SetSortCommand(15)
time.sleep(0.5)
self.controller.SetSortCommand(15)
time.sleep(2.0)
self.controller.SetSortCommand(17)
time.sleep(0.5)
self.controller.SetSortCommand(17)
time.sleep(2.0)
self.controller.SetSortCommand(19)
time.sleep(0.5)
self.controller.SetSortCommand(19)
time.sleep(2.0)
self.controller.SetSortCommand(21)
time.sleep(0.5)
self.controller.SetSortCommand(21)
time.sleep(2.0)
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(1.0)
#If there are no blocks left on top, then retract top pistons, scan blocks and bump into first cart.
self.controller.SetSortCommand(22)
time.sleep(0.5)
self.controller.SetSortCommand(22)
time.sleep(2.0)
self.controller.SetSortCommand(20)
time.sleep(0.5)
self.controller.SetSortCommand(20)
time.sleep(2.0)
self.controller.SetSortCommand(18)
time.sleep(0.5)
self.controller.SetSortCommand(18)
time.sleep(2.0)
self.controller.SetSortCommand(16)
time.sleep(0.5)
self.controller.SetSortCommand(16)
time.sleep(2.0)
#Set Top to false, reset cartNum, scan bottom blocks
self.top = False
self.cartNum = 0
self.colorSensorArray = self.controller.scanBlocks()
self.state = 14
else:
if (self.checkBlockArray()):
#self.state = self.bumpState(76, 15)
self.state = 15
#self.runSonar(self.thresh, 72, 15)
self.cartNum = 0
else:
if (self.checkForError()):
self.controller.SetSortCommand(5)
time.sleep(0.5)
self.controller.SetSortCommand(5)
time.sleep(1.0)
self.controller.SetSortCommand(7)
time.sleep(0.5)
self.controller.SetSortCommand(7)
time.sleep(2.0)
self.controller.SetSortCommand(9)
time.sleep(0.5)
self.controller.SetSortCommand(9)
time.sleep(2.0)
self.controller.SetSortCommand(11)
time.sleep(0.5)
self.controller.SetSortCommand(11)
time.sleep(2.0)
self.controller.SetSortCommand(13)
time.sleep(0.5)
self.controller.SetSortCommand(13)
time.sleep(2.0)
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(0.5)
# Retract bottom pistons
self.controller.SetSortCommand(14)
time.sleep(0.5)
self.controller.SetSortCommand(14)
time.sleep(2.0)
self.controller.SetSortCommand(12)
time.sleep(0.5)
self.controller.SetSortCommand(12)
time.sleep(2.0)
self.controller.SetSortCommand(10)
time.sleep(0.5)
self.controller.SetSortCommand(10)
time.sleep(2.0)
self.controller.SetSortCommand(8)
time.sleep(0.5)
self.controller.SetSortCommand(8)
time.sleep(2.0)
# Back-up
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left
self.controller.SetNavCommand(140)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate right
self.controller.SetNavCommand(204)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Enter bump state
self.state = self.bumpState(76, 5, 20)
# ---------------------------------------------
# Prepare to scan QR codes on 7 inch platform
# ---------------------------------------------
elif self.state == 20:
print "Preparing to scan QR codes"
# Backup away frtom platform
self.controller.SetNavCommand(108)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.55)
# Lower from 10 to 7 inches
self.controller.SetNavCommand(62)
time.sleep(8.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
self.state = 3
# Deliver blocks to boat
elif self.state == 21:
print "Preparing to deliver to boat"
# Backup from platform
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right slightly
self.controller.SetNavCommand(172)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate left 180 degrees
self.controller.SetNavCommand(204)
time.sleep(2.90)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Drive towards boat
self.controller.SetNavCommand(76)
time.sleep(5.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
print "Depositing blocks onto boat"
# Raise gate
self.controller.SetSortCommand(5)
time.sleep(0.5)
self.controller.SetSortCommand(5)
time.sleep(4.0)
# Eject all blocks
self.controller.SetSortCommand(1)
time.sleep(0.5)
self.controller.SetSortCommand(1)
time.sleep(3.0)
# Lower gate
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(4.0)
# Retract all
self.controller.SetSortCommand(2)
time.sleep(0.5)
self.controller.SetSortCommand(2)
time.sleep(3.0)
self.state = 22
# --------------------------------
# Leave boat
# --------------------------------
elif self.state == 22:
print "Leaving boat"
# Backup from boat
self.controller.SetNavCommand(108)
time.sleep(3.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate left 90 degrees
self.controller.SetNavCommand(236)
time.sleep(1.4)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Enter bump state
self.state = self.bumpState(76, 10.0, 23)
# ---------------------------------------------
# Prepare to collect from load 5 inch platform
# ---------------------------------------------
elif self.state == 23:
print "Preparting to collect blocks"
# Backup from wall
self.controller.SetNavCommand(108)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Rotate left 90 degrees
self.controller.SetNavCommand(236)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right into wall
self.controller.SetNavCommand(172)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left off wall
self.controller.SetNavCommand(140)
time.sleep(0.15)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Lower from 7 to 5 inches
self.controller.SetNavCommand(58)
time.sleep(5.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Enter bump state
self.state = self.bumpState(72, 7.0, 24)
# --------------------------------------------
# Prepare to scan QR codes on 5 inch platform
# --------------------------------------------
elif self.state == 24:
# Backup away from platform
self.controller.SetNavCommand(108)
time.sleep(1.5)
self.controller.SetNavCommand(46)
time.sleep(0.25)
# Move right into wall
self.controller.SetNavCommand(172)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.25)
self.state = 3
# --------------------------------
# Deliver blocks to truck
# --------------------------------
elif self.state == 25:
# Move right
self.controller.SetNavCommand(172)
time.sleep(2.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move forward
self.controller.SetNavCommand(76)
time.sleep(4.25)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left to align with tunnel
self.controller.SetNavCommand(140)
time.sleep(3.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right
self.controller.SetNavCommand(168)
time.sleep(0.25)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Raise gate
self.controller.SetSortCommand(5)
time.sleep(0.5)
self.controller.SetSortCommand(5)
time.sleep(4.0)
# Raise from 5 to 7 inches
self.controller.SetNavCommand(50)
time.sleep(5.0)
# Move forward
self.controller.SetNavCommand(76)
time.sleep(2.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move backward
self.controller.SetNavCommand(108)
time.sleep(0.15)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move left
self.controller.SetNavCommand(140)
time.sleep(0.25)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right
self.controller.SetNavCommand(172)
time.sleep(0.25)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Eject Channels 1 and 2 Bottom
self.controller.SetSortCommand(13)
self.controller.SetSortCommand(13)
time.sleep(3.0)
self.controller.SetSortCommand(11)
self.controller.SetSortCommand(11)
time.sleep(3.0)
# Retract Channels 1 and 2 Bottom
self.controller.SetSortCommand(14)
self.controller.SetSortCommand(14)
time.sleep(3.0)
self.controller.SetSortCommand(12)
self.controller.SetSortCommand(12)
time.sleep(3.0)
# Eject Channels 1 and 2 Bottom
self.controller.SetSortCommand(13)
self.controller.SetSortCommand(13)
time.sleep(3.0)
self.controller.SetSortCommand(11)
self.controller.SetSortCommand(11)
time.sleep(3.0)
# Retract Channels 1 and 2 Bottom
self.controller.SetSortCommand(14)
self.controller.SetSortCommand(14)
time.sleep(3.0)
self.controller.SetSortCommand(12)
self.controller.SetSortCommand(12)
time.sleep(3.0)
# Backup away from truck
self.controller.SetNavCommand(180)
time.sleep(0.15)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Move right
self.controller.SetNavCommand(172)
time.sleep(0.5)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Eject Channels 3 and 4 Bottom
self.controller.SetSortCommand(7)
time.sleep(3.0)
self.controller.SetSortCommand(9)
time.sleep(3.0)
# Retract Channels 3 and 4 Bottom
self.controller.SetSortCommand(8)
time.sleep(3.0)
self.controller.SetSortCommand(10)
time.sleep(3.0)
# Eject Channels 3 and 4 Bottom
self.controller.SetSortCommand(7)
time.sleep(3.0)
self.controller.SetSortCommand(9)
time.sleep(3.0)
# Retract Channels 3 and 4 Bottom
self.controller.SetSortCommand(8)
time.sleep(3.0)
self.controller.SetSortCommand(10)
time.sleep(3.0)
# Backup away from truck
self.controller.SetNavCommand(108)
time.sleep(1.0)
self.controller.SetNavCommand(46)
time.sleep(0.5)
# Lower gate
self.controller.SetSortCommand(6)
time.sleep(0.5)
self.controller.SetSortCommand(6)
time.sleep(4.0)
# Enter end state
self.state = 100
# -----------------------------
# End state
# -----------------------------
elif self.state == 100:
print "End"
self.controller.SetNavCommand(46) # Stop movement
self.controller.SetSortCommand(40) # Clear sort command
time.sleep(0.5)
self.state = -1
time.sleep(0.1)
sys.exit(0)
def blockEject(self, channel, full, top):
channel +=1
print channel
if top:
if full:
if channel == 1:
self.controller.SetSortCommand(21)
time.sleep(0.5)
self.controller.SetSortCommand(21)
time.sleep(0.5)
elif channel == 2:
self.controller.SetSortCommand(19)
time.sleep(0.5)
self.controller.SetSortCommand(19)
time.sleep(0.5)
elif channel == 3:
self.controller.SetSortCommand(17)
time.sleep(0.5)
self.controller.SetSortCommand(17)
time.sleep(0.5)
elif channel == 4:
self.controller.SetSortCommand(15)
time.sleep(0.5)
self.controller.SetSortCommand(15)
time.sleep(0.5)
else:
if channel == 1:
self.controller.SetSortCommand(37)
time.sleep(0.5)
self.controller.SetSortCommand(37)
time.sleep(0.5)
elif channel == 2:
self.controller.SetSortCommand(35)
time.sleep(0.5)
self.controller.SetSortCommand(35)
time.sleep(0.5)
elif channel == 3:
self.controller.SetSortCommand(33)
time.sleep(0.5)
self.controller.SetSortCommand(33)
time.sleep(0.5)
elif channel == 4:
self.controller.SetSortCommand(31)
time.sleep(0.5)
self.controller.SetSortCommand(31)
time.sleep(0.5)
else:
if full:
if channel == 1:
self.controller.SetSortCommand(13)
time.sleep(0.5)
self.controller.SetSortCommand(13)
time.sleep(0.5)
elif channel == 2:
self.controller.SetSortCommand(11)
time.sleep(0.5)
self.controller.SetSortCommand(11)
time.sleep(0.5)
elif channel == 3:
self.controller.SetSortCommand(9)
time.sleep(0.5)
self.controller.SetSortCommand(9)
time.sleep(0.5)
elif channel == 4:
self.controller.SetSortCommand(7)
time.sleep(0.5)
self.controller.SetSortCommand(7)
time.sleep(0.5)
else:
if channel == 1:
self.controller.SetSortCommand(29)
time.sleep(0.5)
self.controller.SetSortCommand(29)
time.sleep(0.5)
elif channel == 2:
self.controller.SetSortCommand(27)
time.sleep(0.5)
self.controller.SetSortCommand(27)
time.sleep(0.5)
elif channel == 3:
self.controller.SetSortCommand(25)
time.sleep(0.5)
self.controller.SetSortCommand(25)
time.sleep(0.5)
elif channel == 4:
self.controller.SetSortCommand(23)
time.sleep(0.5)
self.controller.SetSortCommand(23)
time.sleep(0.5)
time.sleep(0.5)
def checkBlockArray(self):
blocksLeft = False
for block in range(0,4):
if self.colorSensorArray_Front[block] != 5:
blocksLeft = True
return blocksLeft
def checkForError(self):
print self.colorSensorArray
error = False
for block in range(0,4):
if self.colorSensorArray_Front[block] == 0:
error = True
if self.colorSensorArray_Back[block] == 0:
error = True
return error
def bumpState(self, speed, timeout, nextState):
self.controller.bumpSwitchPressed = False
self.controller.SetNavCommand(speed)
timer = time.time()
elapsed = time.time()
print "Waiting for bump"
while (self.controller.bumpSwitchPressed == False) and (timeout > (elapsed-timer)):
# Move forward until bump switch is pressed
elapsed = time.time()
if timeout > (elapsed-timer):
print "Timeout"
time.sleep(0.1)
self.controller.bumpSwitchPressed = False
time.sleep(0.1)
self.controller.SetNavCommand(46)
time.sleep(0.5)
return nextState
# Sends command to visual_processor
# ---------------------------------
# command = 1: Scan for QR codes left to right
# command = 2: Scan rail carts and create cart array
# command = 3: Align with rail cart
def processVideo(self, command):
processVidTopic.publish(command)
# ROS Subscriber handler
# ----------------------
# aligned = "True" when aligned with blocks
def _alignedWithBlocks(self, aligned):
if (aligned.data == True) and (self.state == 4):
self.blocksAligned = True
elif (aligned.data == True) and (self.state == 10):
self.alignedWithCart = True
elif (aligned.data == True) and (self.state == 12):
self.alignedWithCart = True
# ROS Subscriber handler
# ----------------------
# Returns each element of cart array individually. "Count" keeps track of the position in the array.
def _receiveCartArray(self, index):
self.scanComplete = True
#print index.data
if(self.count == 0):
self.createCartArray(0, index.data)
elif(self.count == 1):
self.createCartArray(1, index.data)
elif(self.count == 2):
self.createCartArray(2, index.data)
elif(self.count == 3):
self.createCartArray(3, index.data)
elif(self.count == 4):
self.count = 0
self.count += 1
def createCartArray(self, cartNum, cartColor):
self.cartArray[cartNum] = cartColor
#Reverse railcart array for second course orientation.
def reverseArray(self, array):
newArray = [None] * len(array)
for index in xrange(len(array)):
newArray[index] = array[len(array)-(index+1)]
return newArray
