def set8x8(self, index, gridType):
# simulation
self.display.set8x8(index, gridType)
# real
commObject = CommRequest('b')
commObject.markDone()
return commObject
def set8x8(self, index, gridType):
# types:
# T = objective tunnel,
# D = dead end,
# E = empty
commandObj = CommRequest(gridType + '|' + str(index))
self.ard.requestCommand(commandObj)
return commandObj
def set7segment(self, number):
commandObj = CommRequest('N' + '|' + str(number))
if number < 1 or number > 6:
commandObj.response = 'INVALID'
commandObj.markDone()
else:
self.ard.requestCommand(commandObj)
return commandObj
def goForward(self):
commObject = CommRequest('f')
self.drive(1)
self.forwardCounter += 1
self.play_sound(self.sound1)
print "FORWARDS: %s \nTURNS: %s" % (self.forwardCounter,
self.turnCounter)
# commObject.markDone()
self.move_to_do = commObject
return commObject
def rotateClockwise(self):
commObject = CommRequest('r')
self.changeDirection(-1)
self.MAP.rotateClockwise()
self.turnCounter += 1
self.play_sound(self.sound5)
print "FORWARDS: %s \nTURNS: %s" % (self.forwardCounter,
self.turnCounter)
# commObject.markDone()
self.move_to_do = commObject
return commObject
def readSensor(self, value):
commObject = CommRequest('S%s' % value)
returnvalue = None
if value == 1:
returnvalue = self.read_distance()
elif value == 2:
returnvalue = self.read_electromagnetic()
elif value == 3:
returnvalue = self.read_capacitive()
commObject.response = returnvalue
commObject.markDone()
return commObject
def moveForward(self):
commandObj = CommRequest('f')
self.nxtC.requestCommand(commandObj)
return commandObj
def beginningObstacleThresholdCalibration(self):
commandObj = CommRequest('@')
self.ard.requestCommand(commandObj)
return commandObj
def goCalibrateIR(self, side):
to_return = CommRequest('c|' + side)
self.move_to_do = to_return
return to_return
def moveRight(self):
commandObj = CommRequest('r')
self.nxtC.requestCommand(commandObj)
return commandObj
def getStopButton(self):
commandObj = CommRequest('B' + '|S')
self.ard.requestCommand(commandObj)
return commandObj
def setReadyLight(self):
commandObj = CommRequest('R')
self.ard.requestCommand(commandObj)
return commandObj
def goCalibrateIR(self, side):
commandObj = CommRequest('c|' + side)
self.ard.requestCommand(commandObj)
return commandObj
def goCalibrate(self):
commandObj = CommRequest('c')
self.ard.requestCommand(commandObj)
return commandObj
def moveBackward(self):
commandObj = CommRequest('b')
self.nxtC.requestCommand(commandObj)
return commandObj
def moveLeft(self):
commandObj = CommRequest('l')
self.nxtC.requestCommand(commandObj)
return commandObj
def getEMFreading(self):
commandObj = CommRequest('S' + '|E', returnAsList=True)
self.ard.requestCommand(commandObj)
return commandObj
if automatic:
if resp.startswith("BAD") or resp.startswith("BAd"):
automatic = False
print "was on: %s" % possibilities[index]
print 'attempting to flush...'
time.sleep(0.1)
ard_funcs.ard.serial.flushInput()
ard_funcs.ard.serial.flushOutput()
continue
index = (index+1)%3
user_inp = possibilities[index]
#time.sleep(0.001)
else:
user_inp = raw_input('> ')
if user_inp == 'y':
commandObj = CommRequest("L|Y")
ard_funcs.ard.requestCommand(commandObj)
resp = wait_till_done(commandObj)
print "%s: %s" % (user_inp,resp)
elif user_inp == 'b':
commandObj = CommRequest("L|B")
ard_funcs.ard.requestCommand(commandObj)
resp = wait_till_done(commandObj)
print "%s: %s" % (user_inp,resp)
elif user_inp == 'g':
commandObj = CommRequest("L|G")
ard_funcs.ard.requestCommand(commandObj)
resp = wait_till_done(commandObj)
print "%s: %s" % (user_inp,resp)
elif user_inp == 'n':
commandObj = CommRequest("L|N")
def getObstacleReport(self):
commandObj = CommRequest('S' + '|O')
self.ard.requestCommand(commandObj)
return commandObj
def performTap(self):
commandObj = CommRequest('A')
self.ard.requestCommand(commandObj)
return commandObj
def moveLeft(self):
print("in arduinofuncs moveLeft function")
commandObj = CommRequest('l')
self.ard.requestCommand(commandObj)
return commandObj
def goBackward(self):
commObject = CommRequest('b')
self.drive(-1)
self.forwardCounter += 1
commObject.markDone()
return commObject
def beginningRightCalibration(self):
commandObj = CommRequest(']')
self.ard.requestCommand(commandObj)
return commandObj
def setReadyLight(self):
commObject = CommRequest('b')
commObject.markDone()
return commObject
def beginningBackCalibration(self):
commandObj = CommRequest('v')
self.ard.requestCommand(commandObj)
return commandObj
def set7segment(self, number):
commObject = CommRequest('b')
commObject.markDone()
return commObject
def checkEMF2(self):
commandObj = CommRequest('2')
self.ard.requestCommand(commandObj)
return commandObj