def nav_working(self, left_speed, right_speed, run_duration=5):
run_start_time = time.time()
while((time.time() - run_start_time) <= run_duration):
while(get_dist('fc') > 5):
self.move(left_speed, right_speed)
print "navigating: all good.. "
print "obstacle!"
self.pause()
self.stop()
print "run time up!"
def nav2(self, left_speed=50, right_speed=50, duration=20):
#nav takes into account obstacle avoidance while
#def r3_nav(self, 100, 100, 30):
print "nav2 start"
self.move(left_speed, right_speed, duration)
while(get_dist('fc') > 20):
#time.sleep(.5)
print "all good.. going fwd"
print "something in the way"
self.stop()
print "nav2 stop"
def nav(self, left_speed, right_speed, run_duration=5):
move_command = get_move_command(left_speed, right_speed)
run_start_time = time.time()
while((time.time() - run_start_time) <= run_duration):
self.move(left_speed, right_speed)
print "navigating: all good.. "
if(get_dist('fc') < 5 and (('FWD' in move_command) or ('PIVOT' in move_command))):
print "obstacle!"
self.pause()
self.nav(-80,-80,2)
self.pivot(5)
self.stop()
print "run time up!"
def nav(self, left_speed, right_speed, run_duration=5):
move_command = self.get_move_command(left_speed, right_speed)
run_start_time = time.time()
print "nav start: ",move_command
while((time.time() - run_start_time) <= run_duration):
self.move(left_speed, right_speed)
#print "navigating: all good.. "
if(get_dist('fc') < 12 and (('FWD' in move_command) or ('PIVOTX' in move_command))):
print "obstacle during nav: ", move_command
#self.pause()
self.nav(-220,-220,.5)
self.pivot('left',2)
#self.pause()
print "nav pause (time up): ",move_command
def nav_deprecated(self, left_speed=50, right_speed=50, duration=20):
#nav takes into account obstacle avoidance while
#def r3_nav(self, 100, 100, 30):
i = 0
print "nav start"
print 'move steps: ',(duration )
for i in range(0, (duration)):
while(get_dist('fc') > 20):
self.move(left_speed, right_speed, 1)
#print "move call from nav"
i = i + 1
#print "i is:",i
#print "dist: ",get_dist('fc')
self.stop()
print "nav stop"
def nav(self, left_speed=50, right_speed=50, run_duration=2):
run_start_time = time.time()
current_time = time.time()
print "run stats:"
print run_duration
print run_start_time
print current_time
while((current_time - run_start_time) <= run_duration):
while(get_dist('fc') > 15):
self.move(left_speed, right_speed)
print "all good.. keep it movin' "
self.pause()
print "obstacle, waiting!"
current_time = time.time()
self.stop()
print "time up! stopping"
def _left_speedxx(self, speed):
"""Set the speed of the left motor, taking into account its trim offset.
"""
#assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
assert -255 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
speed += self._left_trim
#speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
speed = max(-255, min(255, speed)) # Constrain speed to 0-255 after trimming.
self._left_front.setSpeed(abs(speed))
self._left_rear.setSpeed(abs(speed))
def _right_speedxx(self, speed):
"""Set the speed of the right motor, taking into account its trim offset.
"""
assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
speed += self._right_trim
speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
self._right_front.setSpeed(speed)
self._right_rear.setSpeed(speed)
def nav-working(self, left_speed, right_speed, run_duration=5):
run_start_time = time.time()
while((time.time() - run_start_time) <= run_duration):
while(get_dist('fc') > 5):
self.move(left_speed, right_speed)
print "navigating: all good.. "
print "obstacle!"
self.pause()
self.stop()
print "run time up!"
import time
import r3c
from r3s import get_dist, get_sensorpin
print "test start, initializing chasis and sensors"
r = r3c.r3c() #initialize chassis
print "@@@@@@@@@@ sensor readings start"
for x in range(0, 90):
print "Reading #: ", x
''' get_dist('fl')
time.sleep(1)
get_dist('fc')
time.sleep(1)
get_dist('fr')
time.sleep(1)'''
get_dist('fc')
print "\n\n"
print "@@@@@@@@@@ sensor readings end"
