def SeekLine(SeekSpeed, SeekSize):
print("Seeking the line")
# The direction the robot will turn - True = Left
Direction = True
#SeekSize = 0.25 # Turn for 0.25s
SeekCount = 1 # A count of times the robot has looked for the line
MaxSeekCount = 3 # The maximum time to seek the line in one direction
# Turn the robot left and right until it finds the line
# Or it has been searched for long enough
while SeekCount <= MaxSeekCount:
# Set the seek time
SeekTime = SeekSize * SeekCount
# Start the motors turning in a direction
if Direction:
print("Seeking - Looking left")
pz.spinRight(SeekSpeed)
sl.neoPixelLight("left")
sleep(SeekSize / 50)
else:
print("Seeking - Looking Right")
pz.spinLeft(SeekSpeed)
sl.neoPixelLight("right")
sleep(SeekSize / 50)
# Save the time it is now
StartTime = time()
# While the robot is turning for SeekTime seconds,
# check to see whether the line detector is over black
while time() - StartTime <= SeekTime:
if GPIO.input(lineCentre) == 1:
pz.stop()
# Exit the SeekLine() function returning
# True - the line was found
return True
# The robot has not found the black line yet, so stop
pz.stop()
sl.neoPixelLight("off")
# Increase the seek count
SeekCount += 1
# Change direction
Direction = not Direction
# The line wasn't found, so return False
return False
cam.hflip = True
cam.start_recording("/home/pi/qmpiwars/videos/golf-" + ts + ".h264")
while True:
buttons = wii.state['buttons']
#pixelFlash()
# If Plus and Minus buttons pressed
# together then rumble and quit.
if (buttons - cwiid.BTN_PLUS - cwiid.BTN_MINUS == 0):
print '\nClosing connection ...'
wii.rumble = 1
time.sleep(1)
wii.rumble = 0
sl.neoPixelLight("off")
pz.cleanup()
cam.stop_recording()
exit(wii)
# Check if other buttons are pressed by
# doing a bitwise AND of the buttons number
# and the predefined constant for that button.
if (buttons & cwiid.BTN_LEFT):
print 'Left pressed'
pz.spinRight(90)
time.sleep(button_delay)
sl.neoPixelLight("left")
if (buttons & cwiid.BTN_RIGHT):
print 'Right pressed'
cam.hflip = True
cam.start_recording("/home/pi/qmpiwars/videos/straight-" + ts + ".h264")
try:
while True:
distance = int(dist.getDistance())
LeftDist = sideDist.DistSensor(27, 22) #Left
RightDist = sideDist.DistSensor(17, 18) #Right
print "----------------------------------"
print "Front Distance:", distance
print "Left Distance:", LeftDist
print "Right Distance:", RightDist
print "----------------------------------"
pz.forward(forwardSpeed)
sleep(forwardTime)
sideDist.neoPixelLight("forward")
if(distance <= frontStop): # too close - STOP!
print "Stop!"
#pz.stop()
sideDist.neoPixelLight("off")
elif(LeftDist <= sideStop): # heading left - turn right
print "turning right"
pz.spinLeft(spinSpeed)
sleep(spinTime)
sideDist.neoPixelLight("right")
pz.forward(forwardSpeed)
sleep(forwardTime)
sideDist.neoPixelLight("forward")
if(LeftDist < sideStop): # still too close move forward a bit more
pz.forward(forwardSpeed)
sleep(spinTime)