def blink(color='white', sleeptime=0.1):
if color == 'white':
red = c.LED_ON
green = c.LED_ON
blue = c.LED_ON
elif color == 'red':
red = c.LED_ON
green = c.LED_OFF
blue = c.LED_OFF
elif color == 'yellow':
red = c.LED_ON
green = c.LED_ON
blue = c.LED_OFF
elif color == 'blue':
red = c.LED_OFF
green = c.LED_OFF
blue = c.LED_ON
elif color == 'green':
red = c.LED_OFF
green = c.LED_ON
blue = c.LED_OFF
else:
red = c.LED_ON
green = c.LED_ON
blue = c.LED_ON
pi2go.setAllLEDs(red, green, blue)
time.sleep(sleeptime)
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
time.sleep(sleeptime)
pi2go.setAllLEDs(red, green, blue)
time.sleep(sleeptime)
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
def blink(color='white', sleeptime=0.1):
if color == 'white':
red = c.LED_ON
green = c.LED_ON
blue = c.LED_ON
elif color == 'red':
red = c.LED_ON
green = c.LED_OFF
blue = c.LED_OFF
elif color == 'yellow':
red = c.LED_ON
green = c.LED_ON
blue = c.LED_OFF
elif color == 'blue':
red = c.LED_OFF
green = c.LED_OFF
blue = c.LED_ON
elif color == 'green':
red = c.LED_OFF
green = c.LED_ON
blue = c.LED_OFF
else:
red = c.LED_ON
green = c.LED_ON
blue = c.LED_ON
pi2go.setAllLEDs(red, green, blue)
time.sleep(sleeptime)
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
time.sleep(sleeptime)
pi2go.setAllLEDs(red, green, blue)
time.sleep(sleeptime)
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
def calibrateRight():
print "Calibrating right..."
pi2go.setAllLEDs(0, 400, 0)
pi2go.spinRight(20)
leftLine = not pi2go.irLeftLine()
rightLine = not pi2go.irRightLine()
while (not leftLine and not rightLine):
leftLine = not pi2go.irLeftLine()
rightLine = not pi2go.irRightLine()
if (rightLine):
while (rightLine):
leftLine = not pi2go.irLeftLine()
rightLine = not pi2go.irRightLine()
while (not leftLine):
leftLine = not pi2go.irLeftLine()
rightLine = not pi2go.irRightLine()
pi2go.spinLeft(20)
while (leftLine):
leftLine = not pi2go.irLeftLine()
else:
pi2go.spinLeft(20)
while (not rightLine):
leftLine = not pi2go.irLeftLine()
rightLine = not pi2go.irRightLine()
pi2go.spinRight(20)
while (rightLine):
leftLine = not pi2go.irLeftLine()
rightLine = not pi2go.irRightLine()
pi2go.stop()
pi2go.setAllLEDs(0, 0, 0)
def distance():
stime = time.time()
while True:
# Defining the sensors
left = pi2go.irLeftLine()
right = pi2go.irRightLine()
ntime = time.time()
# timecheck for distance
if ntime > (stime + 0.1):
#print "%.5f" %time.time()
dist = (int(pi2go.getDistance() * 10)) / 10.0
#print "%.5f" %time.time()
stime = ntime
# distance groups
if dist < 10:
pi2go.setAllLEDs(2000, 0, 0)
elif dist > 20:
pi2go.setAllLEDs(0, 0, 2000)
else:
pi2go.setAllLEDs(0, 2000, 0)
def distance():
stime = time.time()
while True:
# Defining the sensors
left = pi2go.irLeftLine()
right = pi2go.irRightLine()
ntime = time.time()
# timecheck for distance
if ntime > (stime + 0.1):
#print "%.5f" %time.time()
dist = (int(pi2go.getDistance()*10))/10.0
#print "%.5f" %time.time()
stime = ntime
# distance groups
if dist < 10:
pi2go.setAllLEDs(2000, 0, 0)
elif dist > 20:
pi2go.setAllLEDs(0, 0, 2000)
else:
pi2go.setAllLEDs(0, 2000, 0)
# irNav.py # navigate using ir obstacle detectors with pi2go library # Author : Zachary Igielman import time import pi2go pi2go.init() fast=50 slow=30 while True: if pi2go.irAll()==False: pi2go.forward(fast) pi2go.setAllLEDs(4095, 4095, 4095) else: ir=pi2go.irRight() pi2go.setAllLEDs(4095, 0, 0) pi2go.reverse(slow) time.sleep(0.5) if ir: pi2go.setAllLEDs(0, 0, 4095) pi2go.turnReverse(fast,slow) time.sleep(3) else: pi2go.setAllLEDs(0, 4095, 0) pi2go.turnReverse(slow,fast) time.sleep(3) pi2go.cleanup()
# Parameters
SPEED_RUN = c.SPEED_RUN
SPEED_MIN = 20
SPEED_WARN = c.SPEED_WARN
SPEED_CONTROL_MAX = c.SPEED_CONTROL_MAX
SPEED_CONTROL_MIN = c.SPEED_STOP
DIST_MIN = c.DIST_MIN
# Programm
try:
while True:
if state == 'INIT':
pi2go.init()
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('', c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
#print 'ID:' , OWN_ID
prev_state = state
#state = 'IDLE'
state = 'RUNNING'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
pi2go.stop()
def update_state_list():
for msg, ID in message_list:
if ID == OWN_ID:
continue
# print OWN_ID, " : ", message, " from ", ID
if msg == "False":
msg = False
elif msg == "True" or msg == "SLOW":
msg = True
state_list[ID] = msg
# return state_list
while True:
if state == "IDLE":
pi2go.setAllLEDs(LED_OFF, LED_OFF, LED_ON)
message, addr = communication.receive_message(sock)
print OWN_ID
if message != '':
# print message
pass
# if "MASTER_START" in message:
if "START" in message:
state = "NOT_IDLE"
if state == "NOT_IDLE":
# #### SENSOR
if time.time() - last_dist_check > 0.2:
last_dist_check = time.time()
distance = pi2go.getDistance()
# print state_list
#!/usr/bin/python # # Pi2Go Demo Code using the Pi2Go library # # Created by Gareth Davies, May 2014 # Copyright 4tronix # # This code is in the public domain and may be freely copied and used # No warranty is provided or implied # #====================================================================== import pi2go, time pi2go.init() pi2go.setAllLEDs(0, 0, 4095) light = pi2go.getLight(0) print light middle = pi2go.irCentre() print middle distance = pi2go.getDistance() print distance time.sleep (3) pi2go.cleanup()
if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:
print "I'm in com_mode now!"
helper.set_element(flags, 'robot_type_com', True)
elif helper.determine_team(OWN_ID) == c.VALUE_TYPE_AUTO:
print "I'm in auto_mode now!"
helper.set_element(flags, 'robot_type_com', False)
local_prev_value = helper.determine_team(OWN_ID)
# TODO: IDLE-STATE?
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE' or helper.get_element(flags, 'master_set_type'):
helper.set_element(flags, 'master_set_type', False)
if helper.get_element(flags, 'robot_type_com'):
pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_ON)
else:
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
helper.set_element(flags, 'master_set_LED', True)
helper.set_element(flags, 'set_motor', True)
if dist < DIST_STOP:
state = STATE_STOP
state_string = "STOP"
elif dist < DIST_RUN or ("WARN" in data and not OWN_IP in addr):
state = STATE_WARN
state_string = "WARN"
else:
state = STATE_RUN
state_string = "RUN"
if state != prev_state:
print state_string
if state == STATE_RUN:
pi2go.setAllLEDs(LEDoff,LEDon,LEDoff)
elif state == STATE_WARN:
pi2go.setAllLEDs(LEDon,LEDon,LEDoff)
elif state == STATE_STOP:
pi2go.setAllLEDs(LEDon,LEDoff, LEDoff)
else:
print "unknown state!"
#print time.time()
#message = "State: " + state + " at " + str(time.time())
print "Starting broadcast"
for x in range(0,10):
message = " State: " + state_string + " at " + str(time.time()) + " #" + str(x)
communication.send_broadcast_message(38234, message)
#print time.time()
print "Broadcast finished"
prev_state = state
# Parameters
SPEED_RUN = c.SPEED_RUN
SPEED_MIN = 20
SPEED_WARN = c.SPEED_WARN
SPEED_CONTROL_MAX = c.SPEED_CONTROL_MAX
SPEED_CONTROL_MIN = c.SPEED_STOP
DIST_MIN = c.DIST_MIN
# Programm
try:
while True:
if state == 'INIT':
pi2go.init()
pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('',c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
#print 'ID:' , OWN_ID
prev_state = state
#state = 'IDLE'
state = 'RUNNING'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_OFF)
def start():
state = 'INIT'
prev_state = ''
mode = 'STOP'
prev_mode = ''
try:
while True:
if state == 'INIT':
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN) / 3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
speed = 0
distance = 0
warning = []
last_meas_time = 0
times = []
times.append(['prev_get_dist', 0.0])
times.append(['prev_get_switch', 0.0])
times.append(['prev_set_motor', 0.0])
times.append(['get_warning', 0.0])
times.append(['prev_set_LED', 0.0])
flags = []
flags.append(['set_motor', False])
flags.append(['status_warn_LED', False])
flags.append(['button_release', False])
flags.append(['master_set_speed', False])
flags.append(['master_set_button', False])
flags.append(['master_set_LED', False])
flags.append(['master_set_state', False])
pi2go.init()
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('', c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times, 'prev_get_switch',
c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
# change to sensor-based or master_idle type
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID < c.TEAM_START or sender_ID > c.TEAM_END:
command, value = com.string_to_command(data)
#
print 'MASTER:', sender_ID, ' : ', data
try:
if command == c.COMMAND_SPEED:
helper.set_element(flags,
'master_set_speed',
True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'Set SPEED_RUN from ' + str(
prev_SPEED_RUN) + ' to ' + str(
SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'Set DIST_MIN from ' + str(
prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED',
True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN) / 3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times, 'prev_get_dist',
0)
helper.set_element(flags, 'master_set_LED',
True)
helper.set_element(flags,
'master_set_speed',
True)
warning = [True] * len(warning)
print "Reset major values"
elif command == c.COMMAND_STATE:
local_prev_state = state
if value == c.VALUE_STATE_RUNNING:
state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
state = 'IDLE'
print 'Going from state ' + local_prev_state + ' to state ' + state
elif command == c.COMMAND_TYPE:
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
return value
except:
print "Error interpreting message from master! Continuing anyway"
elif state == 'RUNNING':
# Distance
if helper.check_time_limit(times, 'prev_get_dist',
c.WAIT_DIST):
time_between = time.time() - last_meas_time
last_meas_time = time.time()
new_dist = pi2go.getDistance()
if new_dist > 1:
distance = new_dist
#print 'dt:', time_between , distance
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
distance_level = 0
elif distance > c.DIST_MAX:
distance_level = 2
else:
distance_level = 1
# Receive
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID == OWN_ID:
#print 'OWN: ' , sender_ID, ' : ' , data
continue
if sender_ID >= c.TEAM_START and sender_ID <= c.TEAM_END:
#print 'ROBOT: ', sender_ID, ' : ' , data
if data == 'PROBLEM':
warning[sender_ID - c.TEAM_START] = False
elif data == 'RELEASE':
warning[sender_ID - c.TEAM_START] = True
else:
try:
#print 'MASTER:' , sender_ID , ' : ' , data
command, value = com.string_to_command(data)
if command == c.COMMAND_SPEED:
helper.set_element(flags,
'master_set_speed',
True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'MASTER: Set SPEED_RUN from ' + str(
prev_SPEED_RUN) + ' to ' + str(
SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'MASTER: Set DIST_MIN from ' + str(
prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED',
True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN) / 3, 0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times, 'prev_get_dist',
0)
helper.set_element(flags, 'master_set_LED',
True)
helper.set_element(flags,
'master_set_speed',
True)
warning = [True] * len(warning)
print 'MASTER: Reset major values'
elif command == c.COMMAND_STATE:
helper.set_element(flags,
'master_set_state',
True)
if value == c.VALUE_STATE_RUNNING:
next_state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
next_state = 'IDLE'
print 'MASTER: Going from state ' + state + ' to state ' + next_state
#elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:
elif command == c.COMMAND_TYPE:
local_prev_value = value
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
print "MASTER: Changing from type " + local_prev_value + " to type " + value
return value
except:
print "Error interpreting message from master! Continuing anyway"
# Analyse --> Calculate MODE
if prev_state == 'RUNNING':
prev_mode = mode
if distance_level == 0:
mode = 'STOP'
elif distance_level == 1 and all(warning):
mode = 'SLOW'
elif distance_level == 2 and all(warning):
mode = 'RUN'
elif distance_level != 0 and not all(warning):
mode = 'WARN'
# Set own Warning-Flag
if mode != prev_mode:
if mode == 'STOP':
warning[OWN_ID - c.TEAM_START] = False
else:
warning[OWN_ID - c.TEAM_START] = True
# LEDs
if mode != prev_mode or helper.get_element(
flags, 'master_set_LED'):
if helper.get_element(flags, 'master_set_LED'):
helper.set_element(flags, 'master_set_LED', False)
if mode == 'RUN':
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF)
elif mode == 'SLOW':
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF,
c.LED_ON) #TODO: test
#pi2go.setAllLEDs(c.LED_OFF,c.LED_ON,c.LED_OFF) #TODO: presentation
#elif mode == 'WARN':
#pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_OFF)
elif mode == 'STOP':
pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_OFF)
# Blinking-Mode
if mode == 'WARN':
if helper.check_time_limit(times, 'prev_set_LED',
c.WAIT_LED):
if helper.get_element(flags, 'status_warn_LED'):
pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)
helper.set_element(flags, 'status_warn_LED', False)
else:
pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)
helper.set_element(flags, 'status_warn_LED', True)
# Calculate new speed
if mode == 'RUN':
if prev_mode != 'RUN' or helper.get_element(
flags, 'master_set_speed'):
speed = SPEED_RUN
helper.set_element(flags, 'master_set_speed', False)
helper.set_element(flags, 'set_motor', True)
# Blocking Avoidance
elif mode == 'SLOW':
#linear
gradient = float(SPEED_CONTROL_MAX -
SPEED_CONTROL_MIN) / float(c.DIST_MAX -
DIST_MIN)
error = c.DIST_MAX - distance
new_value = round(SPEED_RUN - error * gradient, 1)
if new_value < SPEED_CONTROL_MIN:
new_value = SPEED_CONTROL_MIN
elif new_value > SPEED_CONTROL_MAX:
new_value = SPEED_CONTROL_MAX
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
# Slow-Down in Warning-Mode
elif mode == 'WARN':
if prev_mode != 'WARN':
helper.set_element(times, 'get_warning', time.time())
speed_get_warning = speed
new_value = round(
speed_get_warning *
(1 - (time.time() - helper.get_element(
times, 'get_warning')) / c.TIME_TO_SLOW_DOWN), 1)
if new_value < SPEED_WARN:
new_value = SPEED_WARN
if new_value != speed:
speed = new_value
helper.set_element(flags, 'set_motor', True)
elif mode == 'STOP':
if prev_mode != 'STOP':
speed = c.SPEED_STOP
helper.set_element(flags, 'set_motor', True)
# Motor
if helper.get_element(flags, 'set_motor'):
if speed > c.SPEED_LIMIT_MAX:
speed = c.SPEED_LIMIT_MAX
elif speed < c.SPEED_LIMIT_MIN:
speed = c.SPEED_LIMIT_MIN
if mode == 'SLOW' or mode == 'WARN':
if helper.check_time_limit(times, 'prev_set_motor',
c.WAIT_MOTOR):
pi2go.go(speed, speed)
helper.set_element(flags, 'set_motor', False)
else:
pi2go.go(speed, speed)
helper.set_element(flags, 'set_motor', False)
# Send
if mode != prev_mode:
if prev_mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "RELEASE",
c.SENDING_ATTEMPTS,
c.WAIT_SEND)
elif mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "PROBLEM",
c.SENDING_ATTEMPTS,
c.WAIT_SEND)
# Next State
prev_state = state
if helper.get_element(flags, 'master_set_state'):
helper.set_element(flags, 'master_set_state', False)
state = next_state
# Button
if helper.check_time_limit(times, 'prev_get_switch',
c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_state = state
state = 'IDLE'
com.send_x_broadcast_messages(c.PORT, "RELEASE",
c.SENDING_ATTEMPTS,
c.WAIT_SEND)
except KeyboardInterrupt:
print 'KEYBOARD'
finally:
pi2go.stop()
pi2go.cleanup()
sock.close()
print 'END'
def start():
state = 'INIT'
prev_state = ''
mode = 'STOP'
prev_mode = ''
try:
while True:
if state == 'INIT':
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3,0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
speed = 0
distance = 0
warning = []
last_meas_time = 0
times = []
times.append(['prev_get_dist',0.0])
times.append(['prev_get_switch',0.0])
times.append(['prev_set_motor',0.0])
times.append(['get_warning',0.0])
times.append(['prev_set_LED',0.0])
flags = []
flags.append(['set_motor',False])
flags.append(['status_warn_LED',False])
flags.append(['button_release',False])
flags.append(['master_set_speed',False])
flags.append(['master_set_button',False])
flags.append(['master_set_LED',False])
flags.append(['master_set_state',False])
pi2go.init()
pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_ON)
time.sleep(1)
sock = com.init_nonblocking_receiver('',c.PORT)
for x in range(c.TEAM_SIZE):
warning.append(True)
OWN_IP = com.get_ip()
OWN_ID = com.get_id_from_ip(OWN_IP)
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE':
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times,'prev_get_switch',c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags,'button_release',True)
if button and helper.get_element(flags,'button_release'):
helper.set_element(flags,'button_release',False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
# change to sensor-based or master_idle type
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID < c.TEAM_START or sender_ID > c.TEAM_END:
command, value = com.string_to_command(data)
#
print 'MASTER:' , sender_ID , ' : ' , data
try:
if command == c.COMMAND_SPEED:
helper.set_element(flags,'master_set_speed',True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'Set SPEED_RUN from '+ str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'Set DIST_MIN from '+ str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED', True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3,0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times,'prev_get_dist',0)
helper.set_element(flags,'master_set_LED', True)
helper.set_element(flags,'master_set_speed', True)
warning = [True] * len(warning)
print "Reset major values"
elif command == c.COMMAND_STATE:
local_prev_state = state
if value == c.VALUE_STATE_RUNNING:
state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
state = 'IDLE'
print 'Going from state ' + local_prev_state + ' to state ' + state
elif command == c.COMMAND_TYPE:
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
return value
except:
print "Error interpreting message from master! Continuing anyway"
elif state == 'RUNNING':
# Distance
if helper.check_time_limit(times,'prev_get_dist',c.WAIT_DIST):
time_between = time.time() - last_meas_time
last_meas_time = time.time()
new_dist = pi2go.getDistance()
if new_dist > 1:
distance = new_dist
#print 'dt:', time_between , distance
# Obstacle = 1, No Obstacle = 0
irCentre = pi2go.irCentre()
# Obstacle Analysis
if irCentre or (distance < DIST_MIN):
distance_level = 0
elif distance > c.DIST_MAX:
distance_level = 2
else:
distance_level = 1
# Receive
data = 'new_round'
while data != '':
data, addr = com.receive_message(sock)
if data != '':
sender_ID = com.get_id_from_ip(addr[0])
if sender_ID == OWN_ID:
#print 'OWN: ' , sender_ID, ' : ' , data
continue
if sender_ID >= c.TEAM_START and sender_ID <= c.TEAM_END:
#print 'ROBOT: ', sender_ID, ' : ' , data
if data == 'PROBLEM':
warning[sender_ID-c.TEAM_START] = False
elif data == 'RELEASE':
warning[sender_ID-c.TEAM_START] = True
else:
try:
#print 'MASTER:' , sender_ID , ' : ' , data
command, value = com.string_to_command(data)
if command == c.COMMAND_SPEED:
helper.set_element(flags,'master_set_speed',True)
prev_SPEED_RUN = SPEED_RUN
if value == '+':
SPEED_RUN += 5
elif value == '-':
SPEED_RUN -= 5
else:
SPEED_RUN = value
print 'MASTER: Set SPEED_RUN from '+ str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)
elif command == c.COMMAND_DIST:
prev_DIST_MIN = DIST_MIN
if not value.isdigit():
print "Something went terribly wrong with the protocol..."
raise KeyboardInterrupt
DIST_MIN = value
print 'MASTER: Set DIST_MIN from '+ str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)
elif command == c.COMMAND_BLINK:
helper.blink('white')
helper.set_element(flags, 'master_set_LED', True)
elif command == c.COMMAND_RESET:
SPEED_RUN = c.SPEED_RUN
SPEED_WARN = round(float(SPEED_RUN)/3,0)
SPEED_CONTROL_MAX = SPEED_RUN
SPEED_CONTROL_MIN = SPEED_WARN
DIST_MIN = c.DIST_MIN
helper.set_element(times,'prev_get_dist',0)
helper.set_element(flags,'master_set_LED', True)
helper.set_element(flags,'master_set_speed', True)
warning = [True] * len(warning)
print 'MASTER: Reset major values'
elif command == c.COMMAND_STATE:
helper.set_element(flags,'master_set_state', True)
if value == c.VALUE_STATE_RUNNING:
next_state = 'RUNNING'
elif value == c.VALUE_STATE_IDLE:
next_state = 'IDLE'
print 'MASTER: Going from state ' + state + ' to state ' + next_state
#elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:
elif command == c.COMMAND_TYPE:
local_prev_value = value
if value == c.VALUE_TYPE_ORIGINAL:
value = helper.determine_team(OWN_ID)
print "MASTER: Changing from type " + local_prev_value + " to type " + value
return value
except:
print "Error interpreting message from master! Continuing anyway"
# Analyse --> Calculate MODE
if prev_state == 'RUNNING':
prev_mode = mode
if distance_level == 0:
mode = 'STOP'
elif distance_level == 1 and all(warning):
mode = 'SLOW'
elif distance_level == 2 and all(warning):
mode = 'RUN'
elif distance_level != 0 and not all(warning):
mode = 'WARN'
# Set own Warning-Flag
if mode != prev_mode:
if mode == 'STOP':
warning[OWN_ID-c.TEAM_START] = False
else:
warning[OWN_ID-c.TEAM_START] = True
# LEDs
if mode != prev_mode or helper.get_element(flags,'master_set_LED'):
if helper.get_element(flags,'master_set_LED'):
helper.set_element(flags,'master_set_LED',False)
if mode == 'RUN':
pi2go.setAllLEDs(c.LED_OFF,c.LED_ON,c.LED_OFF)
elif mode == 'SLOW':
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_ON) #TODO: test
#pi2go.setAllLEDs(c.LED_OFF,c.LED_ON,c.LED_OFF) #TODO: presentation
#elif mode == 'WARN':
#pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_OFF)
elif mode == 'STOP':
pi2go.setAllLEDs(c.LED_ON,c.LED_OFF,c.LED_OFF)
# Blinking-Mode
if mode == 'WARN':
if helper.check_time_limit(times,'prev_set_LED',c.WAIT_LED):
if helper.get_element(flags,'status_warn_LED'):
pi2go.setAllLEDs(c.LED_OFF,c.LED_OFF,c.LED_OFF)
helper.set_element(flags,'status_warn_LED',False)
else:
pi2go.setAllLEDs(c.LED_ON,c.LED_ON,c.LED_OFF)
helper.set_element(flags,'status_warn_LED',True)
# Calculate new speed
if mode == 'RUN':
if prev_mode != 'RUN' or helper.get_element(flags,'master_set_speed'):
speed = SPEED_RUN
helper.set_element(flags,'master_set_speed',False)
helper.set_element(flags,'set_motor',True)
# Blocking Avoidance
elif mode == 'SLOW':
#linear
gradient = float(SPEED_CONTROL_MAX - SPEED_CONTROL_MIN)/float(c.DIST_MAX-DIST_MIN)
error = c.DIST_MAX - distance
new_value = round(SPEED_RUN - error * gradient,1)
if new_value < SPEED_CONTROL_MIN:
new_value = SPEED_CONTROL_MIN
elif new_value > SPEED_CONTROL_MAX:
new_value = SPEED_CONTROL_MAX
if new_value != speed:
speed = new_value
helper.set_element(flags,'set_motor',True)
# Slow-Down in Warning-Mode
elif mode == 'WARN':
if prev_mode != 'WARN':
helper.set_element(times,'get_warning',time.time())
speed_get_warning = speed
new_value = round(speed_get_warning * (1-(time.time()-helper.get_element(times,'get_warning'))/c.TIME_TO_SLOW_DOWN),1)
if new_value < SPEED_WARN:
new_value = SPEED_WARN
if new_value != speed:
speed = new_value
helper.set_element(flags,'set_motor',True)
elif mode == 'STOP':
if prev_mode != 'STOP':
speed = c.SPEED_STOP
helper.set_element(flags,'set_motor',True)
# Motor
if helper.get_element(flags,'set_motor'):
if speed > c.SPEED_LIMIT_MAX:
speed = c.SPEED_LIMIT_MAX
elif speed < c.SPEED_LIMIT_MIN:
speed = c.SPEED_LIMIT_MIN
if mode == 'SLOW' or mode == 'WARN':
if helper.check_time_limit(times,'prev_set_motor',c.WAIT_MOTOR):
pi2go.go(speed,speed)
helper.set_element(flags,'set_motor',False)
else:
pi2go.go(speed,speed)
helper.set_element(flags,'set_motor',False)
# Send
if mode != prev_mode:
if prev_mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
elif mode == 'STOP':
com.send_x_broadcast_messages(c.PORT, "PROBLEM", c.SENDING_ATTEMPTS, c.WAIT_SEND)
# Next State
prev_state = state
if helper.get_element(flags,'master_set_state'):
helper.set_element(flags,'master_set_state',False)
state = next_state
# Button
if helper.check_time_limit(times,'prev_get_switch',c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags,'button_release',True)
if button and helper.get_element(flags,'button_release'):
helper.set_element(flags,'button_release',False)
prev_state = state
state = 'IDLE'
com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)
except KeyboardInterrupt:
print 'KEYBOARD'
finally:
pi2go.stop()
pi2go.cleanup()
sock.close()
print 'END'
import pi2go, time
pi2go.init()
vsn = pi2go.version()
try:
if vsn != 1:
print "This program only runs on the full Pi2Go"
else:
while True:
pi2go.setAllLEDs(0, 0, 0) # start with all OFF
for i in range(4):
pi2go.setLED(i, 4095, 0, 0) # set to Red
print 'Red'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
for i in range(4):
pi2go.setLED(i, 0, 4095, 0) # set to Green
print 'Green'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
for i in range(4):
pi2go.setLED(i, 0, 0, 4095) # set to Blue
print 'Blue'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
for i in range(4):
pi2go.setLED(i, 4095, 4095, 4095) # set to White
print 'White'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
def update_state_list():
for msg, ID in message_list:
if ID == OWN_ID:
continue
# print OWN_ID, " : ", message, " from ", ID
if msg == "False":
msg = False
elif msg == "True" or msg == "SLOW":
msg = True
state_list[ID] = msg
# return state_list
while True:
if state == "IDLE":
pi2go.setAllLEDs(LED_OFF, LED_OFF, LED_ON)
message, addr = communication.receive_message(sock)
print OWN_ID
if message != '':
# print message
pass
# if "MASTER_START" in message:
if "START" in message:
state = "NOT_IDLE"
if state == "NOT_IDLE":
# #### SENSOR
if time.time() - last_dist_check > 0.2:
last_dist_check = time.time()
distance = pi2go.getDistance()
# print state_list
import pi2go, time
pi2go.init()
vsn = pi2go.version()
try:
if vsn != 1:
print "This program only runs on the full Pi2Go"
else:
while True:
pi2go.setAllLEDs(0, 0, 0) # start with all OFF
for i in range(4):
pi2go.setLED(i, 4095, 0, 0) # set to Red
print 'Red'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
for i in range(4):
pi2go.setLED(i, 0, 4095, 0) # set to Green
print 'Green'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
for i in range(4):
pi2go.setLED(i, 0, 0, 4095) # set to Blue
print 'Blue'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
for i in range(4):
pi2go.setLED(i, 4095, 4095, 4095) # set to White
print 'White'
time.sleep(0.2)
pi2go.setLED(i, 0, 0, 0)
def line_follower():
"""
State:
L R
1 1 - Both White - Depends on P
1 0 - Left White - Turn Left
0 1 - Right White - Turn Right
0 0 - Both Black - Go Forward
P - previous State
------------------
0 - Left
1 - Right
:return:
"""
dist = 0
speed = 70
change = 20
start = 0
STATE = 00
prev_STATE = 11
STOP = False
stop = False
prev_stop = True
while True:
#print "line follower %f" %time.time()
# print 'get dist: %f' % time.time()
left = pi2go.irLeftLine()
right = pi2go.irRightLine()
# print 'get ir: %f' % time.time()
if not left and not right: # If both sensors are the on --> forward
STATE = 00
elif left and not right: # If the left sensor is Off --> move right
STATE = 10
elif right and not left: # If the right sensor is off --> move left
STATE = 01
else:
STATE = 11
if time.time() - start > 0.15:
dist = (int(pi2go.getDistance()*10))/10.0
print dist
while dist < 25:
dist = (int(pi2go.getDistance()*10))/10.0
pi2go.stop()
STATE = 69
time.sleep(0.15)
if stop == False:
pi2go.setAllLEDs(4095,0,0)
stop = True
start = time.time()
stop = False
if stop == prev_stop:
pass
elif stop == False:
pi2go.setAllLEDs(0,4095,0)
if STATE == prev_STATE:
pass
elif STATE == 00:
pi2go.forward(speed)
elif STATE == 10:
pi2go.turnForward(speed + change, speed - change)
elif STATE == 01:
pi2go.turnForward(speed - change, speed + change)
elif STATE == 11:
pi2go.stop()
prev_stop = stop
prev_STATE = STATE
while True:
# Defining the sensors
left = pi2go.irLeftLine()
right = pi2go.irRightLine()
ntime = time.time()
# timecheck for distance
if ntime > (stime + 0.1):
#print "%.5f" %time.time()
dist = (int(pi2go.getDistance() * 10)) / 10.0
#print "%.5f" %time.time()
stime = ntime
# distance groups
if dist < 10:
pi2go.setAllLEDs(2000, 0, 0)
elif dist > 20:
pi2go.setAllLEDs(0, 0, 2000)
else:
pi2go.setAllLEDs(0, 2000, 0)
# line follower
if left == right: # If both sensors are the same (either on or off) --> forward
pi2go.forward(speed)
elif left == True: # If the left sensor is on --> move right
pi2go.turnForward(speed + change, speed - change)
elif right == True: #If the right sensor is on --> move left
pi2go.turnForward(speed - change, speed + change)
finally: # Even if there was an error, cleanup
pi2go.cleanup()
#
# This code is in the public domain and may be freely copied and used
# No warranty is provided or implied
#
#======================================================================
import pi2go, time
pi2go.init()
vsn = pi2go.version()
try:
if vsn != 1:
print "This program only runs on the full Pi2Go"
else:
pi2go.setAllLEDs(0, 0, 0)
while True:
light0 = pi2go.getLight(0)
light1 = pi2go.getLight(1)
light2 = pi2go.getLight(2)
light3 = pi2go.getLight(3)
print "Light sensors: ", light0, light1, light2, light3
time.sleep(1)
except KeyboardInterrupt:
print
finally:
pi2go.cleanup()
# No warranty is provided or implied
#
#======================================================================
import pi2go, time
LEDon = 4095
LEDoff = 0
pi2go.init()
vsn = pi2go.version()
if vsn != 1:
print "This program only runs on the full Pi2Go"
else:
pi2go.setAllLEDs(LEDoff, LEDoff, LEDoff)
pi2go.setAllLEDs(LEDon, LEDoff, LEDoff)
print "Red"
time.sleep(1)
pi2go.setAllLEDs(LEDoff, LEDon, LEDoff)
print "Green"
time.sleep(1)
pi2go.setAllLEDs(LEDoff, LEDoff, LEDon)
print "Blue"
time.sleep(1)
pi2go.setAllLEDs(LEDon, LEDon, LEDon)
print "White"
time.sleep(1)
pi2go.setAllLEDs(LEDoff, LEDoff, LEDoff)
for i in range(2):
print "I'm in com_mode now!"
helper.set_element(flags, 'robot_type_com', True)
elif helper.determine_team(OWN_ID) == c.VALUE_TYPE_AUTO:
print "I'm in auto_mode now!"
helper.set_element(flags, 'robot_type_com', False)
local_prev_value = helper.determine_team(OWN_ID)
#TODO: IDLE-STATE?
prev_state = state
state = 'IDLE'
if state == 'IDLE':
if prev_state != 'IDLE' or helper.get_element(
flags, 'master_set_type'):
helper.set_element(flags, 'master_set_type', False)
if helper.get_element(flags, 'robot_type_com'):
pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_ON)
else:
pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_ON)
pi2go.stop()
if helper.check_time_limit(times, 'prev_get_switch',
c.WAIT_SWITCH):
# Pressed = 1, Released = 0
button = pi2go.getSwitch()
if not button:
helper.set_element(flags, 'button_release', True)
if button and helper.get_element(flags, 'button_release'):
helper.set_element(flags, 'button_release', False)
prev_mode = ''
prev_state = state
state = 'RUNNING'
helper.set_element(flags, 'master_set_LED', True)
while True:
# Defining the sensors
left = pi2go.irLeftLine()
right = pi2go.irRightLine()
ntime = time.time()
# timecheck for distance
if ntime > (stime + 0.1):
#print "%.5f" %time.time()
dist = (int(pi2go.getDistance()*10))/10.0
#print "%.5f" %time.time()
stime = ntime
# distance groups
if dist < 10:
pi2go.setAllLEDs(2000, 0, 0)
elif dist > 20:
pi2go.setAllLEDs(0, 0, 2000)
else:
pi2go.setAllLEDs(0, 2000, 0)
# line follower
if left == right: # If both sensors are the same (either on or off) --> forward
pi2go.forward(speed)
elif left == True: # If the left sensor is on --> move right
pi2go.turnForward(speed+change, speed-change)
elif right == True: #If the right sensor is on --> move left
pi2go.turnForward(speed-change, speed+change)
finally: # Even if there was an error, cleanup
pi2go.cleanup()
# slow line follower using pi2go library
# Author : Zachary Igielman
import sys, time
import pi2go
pi2go.init()
pwmMax = 4095
fast = 40
try:
while True:
if pi2go.irLeftLine() and pi2go.irRightLine():
pi2go.forward(fast)
pi2go.setAllLEDs(pwmMax, pwmMax, pwmMax) # Turn LEDs White for Forwards
print('straight')
elif pi2go.irRightLine()==False:
pi2go.spinRight(fast)
pi2go.setAllLEDs(pwmMax, 0, 0) # Turn LEDs Red for Right
print('right')
elif pi2go.irLeftLine()==False:
pi2go.spinLeft(fast)
pi2go.setAllLEDs(0, 0, pwmMax) # Turn LEDs Blue to Left
print('left')
except KeyboardInterrupt:
pi2go.setAllLEDs (0, 0, 0)
pi2go.cleanup()
sys.exit()
