class AvoidEdge(Behavior):
def __init__(self, BBCON, priority):
super().__init__(BBCON)
print("We are going in to calibration mode in 2 sec")
time.sleep(2)
self.sensob = ReflectanceSensors(auto_calibrate=True)
self.priority = priority #Preset value that is set by the user
self.sensob.update()
self.old = self.sensob.get_value()
def printName(self):
return "Behavior AvoidEdge "
def update(self):
super().considerState()
if self.active_flag:
self.sense_and_act()
self.weight = self.priority * self.match_degree
def sense_and_act(self):
self.sensob.update()
self.new = self.sensob.get_value()
print(sum(self.old)/len(self.old) - sum(self.new)/len(self.new) > 0.1)
if (sum(self.old)/len(self.old) - sum(self.new)/len(self.new) > 0.1 ):
self.motor_recommendations = [-1,-1]
self.match_degree = 1
else:
self.match_degree = 0
self.motor_recommendations = [1,1]
self.old = self.new
def test(self):
return True
class ReflectanceSob:
def __init__(self):
self.sensor = ReflectanceSensors(auto_calibrate=False)
self.max_val = self.sensor.max_val
def update(self):
print('reflectance sensor updates')
self.sensor.update()
self.value = self.sensor.value
def reset(self):
self.sensor.reset()
class ReflectanceSob:
def __init__(self):
self.sensor = ReflectanceSensors(auto_calibrate=False)
self.max_val = self.sensor.max_val
def update(self):
print('reflectance sensor updates')
self.sensor.update()
self.value = self.sensor.value
def reset(self):
self.sensor.reset()
class ReflectanceSensob(Sensob):
def __init__(self):
super(ReflectanceSensob, self).__init__()
self.sensor = ReflectanceSensors()
self.sensors.append(self.sensor)
def get_value(self):
''' returnerer en liste med verdier: [left, midleft, midright right]'''
return self.value
def update(self):
self.sensor.update()
self.value = self.sensor.get_value()
return self.value
def edge_detection():
ir = ReflectanceSensors(max_reading=3000, min_reading=1000)
button = ZumoButton()
while True:
button.wait_for_press()
reading = ir.update()
print(reading)
time.sleep(0.6)
def tourist(steps=25,shots=5,speed=.25):
ZumoButton().wait_for_press()
rs = ReflectanceSensors(); m = Motors(); c = Camera()
for i in range(steps):
random_step(m,speed=speed,duration=0.5)
vals = rs.update()
if sum(vals) < 1: # very dark area
im = shoot_panorama(c,m,shots)
im.dump_image('vacation_pic'+str(i)+'.jpeg')
def tourist(steps=25,shots=5,speed=.25):
ZumoButton().wait_for_press()
rs = ReflectanceSensors(); m = Motors(); c = Camera()
for i in range(steps):
random_step(m,speed=speed,duration=0.5)
vals = rs.update()
if sum(vals) < 1: # very dark area
im = shoot_panorama(c,m,shots)
im.dump_image('vacation_pic'+str(i)+'.jpeg')
class FollowLine:
def __init__(self):
self.reflectanseSensor = ReflectanceSensors()
self.values = self.getValueList()
self. values = self.isOnLine()
def getValueList(self):
self.reflectanseSensor.reset()
self.reflectanseSensor.update()
return self.reflectanseSensor.get_value()
def isOnLine(self):
nowValue = self.getValueList()
offLineList = [0,1,4,5]
for i in range(6):
if i in offLineList and nowValue[i] < 0.2:
return [(1000-(nowValue[i]*1000)),i]
return [0,10]
def getPriValues(self):
return self.isOnLine()
class FallingOut(Sensob):
def __init__(self):
super(FallingOut, self).__init__()
self.sensor = ReflectanceSensors(max_reading=3000, min_reading=1000)
self.value = []
def update(self):
self.sensor.update()
self.value = self.sensor.get_value()
def reset(self):
pass
def calibrate(self):
self.sensor = ReflectanceSensors(auto_calibrate=True)
def interpret(self):
danger = 0
if self.value[0] < 0.65:
danger = -1
elif self.value[5] < 0.65:
danger = 1
return danger
class Reflectance(Sensob):
def __init__(self):
super().__init__("Reflectance")
self.reflect = ReflectanceSensors()
def get_sensor_current_value(self):
value = self.reflect.update()
return value
def update(self):
self.value = self.get_sensor_current_value()
def get_value(self):
return self.value
def test():
sensor = ReflectanceSensors()
for x in range(30):
print(sensor.update())
