def turnright(m_speed=None):
global motor_controller, motor_status
try:
motor_status = 'right'
motor_controller.move_right(right_speed=m_speed)
except:
motor_controller = QuadMotorController()
def turnleft(m_speed=None):
global motor_controller, motor_status
try:
motor_status = 'left'
motor_controller.move_left(left_speed=m_speed)
except:
motor_controller = QuadMotorController()
def forwards(m_speed=None):
global motor_controller, motor_status
try:
motor_status = 'forward'
if range_sensor_value > 30:
motor_controller.move_forward(forward_speed=m_speed)
else:
print('RANGE SENSOR : {} cm'.format(range_sensor_value))
except:
motor_controller = QuadMotorController()
def stopall(force=False):
global motor_controller, motor_status
try:
if force:
motor_controller.stopall()
else:
motor_controller.move_left(left_speed=0)
motor_status = 'stop'
except:
motor_controller = QuadMotorController()
def turnright(m_speed=None):
global motor_controller, motor_status
try:
# if motor_status != 'right':
# time.sleep(0.1)
motor_status = 'right'
motor_controller.move_right(right_speed=m_speed)
# setLEDs(0, 0, 1, 1)
# print('left')
except:
motor_controller = QuadMotorController()
def reverse(m_speed=None):
global motor_controller, motor_status
try:
# if motor_status != 'backward':
# time.sleep(0.1)
motor_status = 'backward'
motor_controller.move_backward(back_speed=m_speed)
# setLEDs(1, 0, 0, 1)
# print('straight')
except:
motor_controller = QuadMotorController()
def stopall():
global motor_controller, motor_status
try:
time.sleep(0.1)
# motor_controller.stopall()
motor_controller.move_left(left_speed=0)
motor_status = 'stop'
# setLEDs(1, 1, 1, 1)
# print('stop')
except:
motor_controller = QuadMotorController()
def forwards(m_speed=None):
global motor_controller, motor_status
try:
# if motor_status != 'forward':
# time.sleep(0.1)
motor_status = 'forward'
if range_sensor_value > 30:
motor_controller.move_forward(forward_speed=m_speed)
else:
print('RANGE SENSOR : {} cm'.format(range_sensor_value))
# setLEDs(0, 1, 1, 0)
# print('straight')
except:
motor_controller = QuadMotorController()
lr_speed = 0
x = 0
y = 0
width = 0
height = 0
x_min = 70
x_max = 200
maxArea = 800
minArea = 200
fb_pid = PID(target=6250, p=1, i=0.5, d=0.01)
lr_pid = PID(target=500, p=0.5, i=0, d=0.3)
motor_controller = QuadMotorController()
range_sensor_value = 100
no_object = "no_object"
run = 'Running'
STOP = 'Stopped'
MANUAL = 'Manual'
motor_status = 'stop'
def range_sensor_updater():
global range_sensor_value
print('range Sensor thread is running')
pi = pigpio.pi()
STOP = 'Stopped'
MANUAL = 'Manual'
fb_speed = 0
lr_speed = 0
x = 500
y = 0
area = 7000
x_min = 200
x_max = 800
fb_pid = PID(target=10000, p=0.5, i=0, d=0.5)
lr_pid = PID(target=500, p=1, i=0, d=0.5)
motor_controller = QuadMotorController()
range_sensor_value = 100
no_object = "no_object"
motor_status = 'stop'
status = STOP
# Used For optimizing no object status
is_keep_track = False
is_balanced = True
no_obj_flag = False
def range_sensor_updater():
global range_sensor_value