def loadModel(self):
self.prop = Cannon.Cannon(self.cr)
self.prop.cannonPost = self.prop
self.prop.shipId = self.shipId
self.prop.doId = self.doId
self.prop.reparentTo(self)
self.prop.loadModel(None)
def createProp(self):
cannon = self.ship.cannons.get(self.cannonIndex, 0)
if cannon:
if cannon[0]:
self.prop = cannon[0]
self.ship.cannons[self.cannonIndex][1] = self
return
self.prop = Cannon.Cannon(self.cr, True)
self.ship.cannons[self.cannonIndex] = [self.prop, self]
interface = Interface(640,695,100,600,"F.I.R.E. -MAIN_AUTO(0.1) TEST-",100) interface.build() pygame.init() ############################ GPIO.setmode(GPIO.BOARD) # BOARD!!! ############################ # Initialize the devices # motorController = MotorController(12,29,31,33,35,26,100) #ENA,IN1,IN2,IN3,IN4,ENB,Velocity(from 0 to 100) ultrasoundSensorL = UltrasoundSensor(5,3) #TRIGG,ECHO ultrasoundSensorF = UltrasoundSensor(11,7) #TRIGG,ECHO ultrasoundSensorR = UltrasoundSensor(15,13) #TRIGG,ECHO view = View(23,21) #LRServo,UDServo [servoLR = ServoMotor(23)YELLOW, servoUD = ServoMotor(21)YELLOW] tempHumL = TempHumSensor(8) #DATA tempHumR = TempHumSensor(10) #DATA irSensor = IRSensor(19) #DATA cannon = Cannon(37) webcam = WebCam() ############################ #-#-# MAIN LOOP #-#-# textMov = 'MOVING: STOP' textView = 'VIEW: CENTER' textCannon = 'CANNON: STOPPED' textTempL = '_' textTempR = '_' textDistL = '_' textDistF = '_' textDistR = '_' run = True motorController.initialize() ultrasoundSensorL.initialize()
timeslice = 0.05 # How many seconds should elapse per iteration?
iterations = 288 # How many iterations should the simulation run for?
# (notice that the full journey takes 14.416 seconds, so 145 iterations will
# cover the whole thing when timeslice = 0.10)
noiselevel = 30 # How much noise should we add to the noisy measurements?
# These are arrays to store the data points we want to plot at the end.
x = []
y = []
nx = []
ny = []
vx = []
vy = []
# Let's make a cannon simulation.
c = Cannon(timeslice, noiselevel)
for i in range(iterations):
x.append(c.GetX())
y.append(c.GetY())
newestX = c.GetXWithNoise()
newestY = c.GetYWithNoise()
nx.append(newestX)
ny.append(newestY)
# Iterate the cannon simulation to the next timeslice.
c.Step()
vx.append(c.GetXVelocity())
vy.append(c.GetYVelocity())
# Plot all the results we got.
pylab.plot(x, y, '-', nx, ny, ':')
GPIO.setmode(GPIO.BOARD) # BOARD!!!
############################
# Initialize the devices #
motorController = MotorController(
12, 29, 31, 33, 35, 26,
100) #ENA,IN1,IN2,IN3,IN4,ENB,Velocity(from 0 to 100)
ultrasoundSensorL = UltrasoundSensor(5, 3) #TRIGG,ECHO
ultrasoundSensorF = UltrasoundSensor(11, 7) #TRIGG,ECHO
ultrasoundSensorR = UltrasoundSensor(15, 13) #TRIGG,ECHO
view = View(
23, 21
) #LRServo,UDServo [servoLR = ServoMotor(23)YELLOW, servoUD = ServoMotor(21)YELLOW]
tempHumL = TempHumSensor(8) #DATA
tempHumR = TempHumSensor(10) #DATA
infraRedSen = IRSensor(19) #DATA
cannon = Cannon(37) #Transistor sign pin -> WE MUST DEFINE THIS CLASS!!!!
webcam = WebCam()
############################
#-#-# MAIN LOOP #-#-#
textMov = 'MOVING: STOP'
textView = 'VIEW: CENTER'
textCannon = 'CANNON: STOPPED'
textTempL = '_'
textTempR = '_'
textDistL = '_'
textDistF = '_'
textDistR = '_'
run = True
motorController.initialize()
ultrasoundSensorL.initialize()
def addCannon(self, pos):
self.towers.append(Cannon(pos))
