def __init__ (self):
self.gpsAngle = GpsAngle()
# uncomment this when you want to use the gps
#self.gpsLoc = LocationGPS()
self.xbee = SuperXbee()
self.rudder = PololuMicroMaestro()
self.sails = PololuMicroMaestro()
class Main(object):
def __init__ (self):
self.gpsAngle = GpsAngle()
# uncomment this when you want to use the gps
#self.gpsLoc = LocationGPS()
self.xbee = SuperXbee()
self.rudder = PololuMicroMaestro()
self.sails = PololuMicroMaestro()
# untested function to determine positioning of sails
def frontalWind(self,destAngle):
if ((destAngle > 0.0 and destAngle < 30.0) or (destAngle > 150.0 and destAngle < 180.0)):
self.sails.setAngle(1,75) ## Sails at 1/4 way in
if (destAngle == 0.0 or destAngle == 180.0):
self.sails.setAngle(1,80) ## Sails at 1/2 way out
if ((destAngle < 0.0 and destAnlge > -80) or (destAngle < -100.0 and destAngle > -179)):
self.sails.setAngle(1,85) ## Sails at 3/4 way out
if (destAngle > -100 and destAngle < -80):
self.sails.setAngle(1,90) ## Sails at all way out, wind comes from the back
if ((destAngle > 30.0 and destAngle < 35.0) or (destAngle < 150.0 and destAngle > 145.0)):
self.sails.setAngle(1,70) ## At the edge of No Go Zone
if (destAngle > 35.0 and destAngle < 145):
self.sails.setAngle(1,75) ## Tacking and driving when the boat it's in No Go Zone
for i in range(80, 100):
self.rudder.setAngle(0,i)
i = i + 5
for i in range(80,60 ):
self.rudder.setAngle(0,i)
i = i - 5
def mainFunction(self):
time1 = 0.0
time2 = 0.0
## Read destination from user (self.xbee)
self.xbee.write("\nLatitude of Destination = ")
destLat = self.xbee.read(9)
self.xbee.write("\nLongitude of Destination = ")
destLong = self.xbee.read(11)
#inital rudder setup
rudderAngle = 80
self.rudder.setAngle(0,rudderAngle)
while True:
time2 = time.clock()
## Calculate the desired direction to go (Based on angle)
# destAngle = str(self.gpsAngle.calculateAngle(float(self.gpsLoc.getLatitude()), float(gpsLoc.getLongitude()), float(destLat), float(destLong)))
#self.gpsLoc.getLocation()
#print "Latitude: " + str(self.gpsLoc.getLatitude())
#print "Longitude: " + str(self.gpsLoc.getLongitude())
# hard coded gps coordinates due to being indoors
destAngle = int(self.gpsAngle.calculateAngle(43.818544, -111.782777, float(destLat), float(destLong)))
print "destAngle" + str(destAngle)
direction = self.gpsAngle.getDirectionToHead()
print "direction: " + str(direction)
## Get actual direction based on the compass
fi = open("direction.txt", "r")
currDirection = fi.read(2)
print "currDirection: " + currDirection
fi.close()
## Get wind direction based on the wind sensor
fi = open("wind.txt", "r")
windDirection = fi.read(1)
print "windDirection: " + windDirection
fi.close()
## Set rudder and set Sails based on wind, current direction, and direction
if currDirection == "NO":
currAngle = 90.0
if currDirection == "NE":
currAngle = 45.0
if currDirection == "NW":
currAngle = 135.0
if currDirection == "EA":
currAngle = 0.0
if currDirection == "WE":
currAngle = 180.0
if currDirection == "SO":
currAngle = -90.0
if currDirection == "SE":
currAngle = -45.0
if currDirection == "SW":
currAngle = -135.0
## Calculate the angle the rudder has to rotate
x = destAngle - currAngle
if x > 180.0 or x < 0.0:
if x > 180.00:
x = (360.0 - x)
else:
x = abs(x)
self.rudder.setAngle(0,(80 + (x / 6)))
elif x <= 180.0 or x >= 0.0:
self.rudder.setAngle(0, (80 - (x / 6)))
## untested code
## Calculate the rotation of the sails
if windDirection == "F":
frontalWind(destAngle)
if windDirection == "B":
if destAngle > -150.0 and destAngle < -30.0:
frontalWind(destAngle)
else:
self.sails.setAngle(1,90)
if (windDirection == "R" or windDirection == "L"):
# if ((destAngle > 0.0 and destAngle < 60.0) or (destAngle < 0.0 and destAngle > -60.0)):
# frontalWind(destAngle)
# else:
self.sails.setAngle(1,80)