class AutonomousCar:
def __init__(self, settings):
self.settings = settings
self.go_ahead = True
self.turn = False
self.turn_angle = 30
if bool(random.getrandbits(1)):
self.turn_angle *= -1
self.initiate_objects()
if settings['run_test']:
self.test_function()
else:
self.calibrate()
self.the_loop()
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
def calibrate(self):
self.motor_front.run_to_position(self.settings['motor_front_angle'])
def test_function(self):
self.hub.light_matrix.show_image('PACMAN')
sounds_and_colors = [(65, "blue"), (70, "azure"), (60, "cyan")]
for i in sounds_and_colors:
self.hub.speaker.beep(i[0], 0.3)
self.hub.status_light.on(i[1])
self.hub.light_matrix.off()
def end_turn(self):
self.turn = False
self.motor_front.run_for_degrees(self.turn_angle * -1)
def the_loop(self):
self.hub.light_matrix.write('GO')
self.hub.status_light.on('green')
loop_time_diff = 0
loop_start_time = time.time()
turn_time_diff = 0
turn_start_time = None
while loop_time_diff < self.settings['how_long_run']:
how_far = self.dist_sens.get_distance_cm()
rear_speed = self.settings.get('motor_rear_speed')
if self.turn:
self.hub.status_light.on('yellow')
turn_time_control = time.time()
turn_time_diff = turn_time_control - turn_start_time
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
self.end_turn()
elif turn_time_diff >= self.settings['turn_in_seconds']:
self.end_turn()
elif self.go_ahead:
self.hub.status_light.on('green')
rear_speed = rear_speed * -1
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
else:
self.hub.status_light.on('blue')
if isinstance(
how_far, int
) and how_far >= self.settings['dist_threshold_high']:
self.turn = True
turn_start_time = time.time()
self.motor_front.run_for_degrees(self.turn_angle)
self.go_ahead = True
self.motor_rear.start(rear_speed)
wait_for_seconds(0.25)
loop_time_control = time.time()
loop_time_diff = loop_time_control - loop_start_time
self.motor_rear.stop()
self.calibrate()
self.hub.light_matrix.write('STOP')
print("DONE!")
# %%
# Turn on the lights of the distance sensor.
print("Turning on the distance sensor...")
distance_sensor.light_up_all(100)
print("DONE!")
# %% [markdown]
# Define Charlie's shy reaction.
# %%
while True:
# Get distance measurement.
distance = distance_sensor.get_distance_cm()
print("Distance measurement: " + str(distance) + " cm")
# We need to make sure that Charlie reacts only when he perceives a distance.
# To do so, we check what distance Charlie perceived. If he didn't perceive
# a distance, distance_sensor.get_distance_cm() returns None.
if not distance == None:
# Charlie will get embarrassed if you get closer than 30 cm
# For now, I defined this distance as 15 cm for testing purposes.
distance_threshold = 15
if distance < distance_threshold:
print("Charlie is embarrassed! (distance = " + str(distance) + " cm)")
# Turn off the lights of the distance sensor.