def sonarScan():
global tilt, yaw
print "(o ) 1"
yaw.left()
tilt.up()
uL = robohat.getDistance()
yaw.mid()
uM = robohat.getDistance()
yaw.right()
uR = robohat.getDistance()
tilt.centre()
cR = robohat.getDistance()
yaw.mid()
cM = robohat.getDistance()
yaw.left()
cL = robohat.getDistance()
tilt.down()
dL = robohat.getDistance()
yaw.mid()
dM = robohat.getDistance()
yaw.right()
dR = robohat.getDistance()
yaw.mid()
tilt.centre()
msg = '{{"msg":{},"data":{{"dist":[[{},{},{}],[{},{},{}],[{},{},{}]]}}}}'
msg = msg.format(Messages.MSG_SONAR_SCAN_DATA, uL, cL, dL, uM, cM, dM, uR,
cR, dR)
server.send(msg)
def right_pulse():
global settings
# Check right
robohat.setServo(settings["rotation_angle"] + 45)
time.sleep(0.3)
distance = int(robohat.getDistance())
# Face forwards
robohat.setServo(settings["rotation_angle"])
return distance
def detailedSonarScan(hGran=5, vGran=5, width=60, height=40, x=50, y=40):
global tilt, yaw
wX = x - (width / 2)
wY = y + (width / 2)
if wX < 0 or wY < 0 or wX > 100 or wY > 100:
server.send('{{"msg":{},"data":{{"error":"{}""}}}}'.format(
Messages.MSG_ERROR, "Scan coordinates are invalid."))
return
dX = float(width) / hGran
dY = float(height) / vGran
lr = True
cX = 0
cY = 0
print "Scan start:", wX, wY
print "Deltas:", dX, dY
print "Size:", hGran, vGran
print "Yaw:", wX
yaw.percentage(wX)
response = '{"msg":' + str(
Messages.MSG_SONAR_SCAN_DATA) + ',"data":{"dist":['
while cY < vGran:
if cX != 0 or cY != 0:
response += ","
response += "["
scanline = []
while cX < hGran:
if cX == 0:
if (wY <= 100):
print "Tilt:", wY
tilt.percentage(int(wY))
else:
if lr:
wX += dX
else:
wX -= dX
if (wX <= 100):
print "Yaw:", wX
yaw.percentage(int(wX))
scanline.append(str(robohat.getDistance()))
print "Scan: ", cX, cY
cX += 1
if not lr:
scanline.reverse()
response += ','.join(scanline)
cX = 0
cY += 1
wY -= dY
lr = (lr == False)
response += "]"
yaw.mid()
tilt.centre()
response += ']}}'
server.send(response)
def handleMessage(msg, data):
global server, tilt, yaw
print("Incoming", msg, data)
if msg == Messages.MSG_READ_SENSORS:
irL = jsonBool(robohat.irLeft())
irR = jsonBool(robohat.irRight())
lineL = jsonBool(robohat.irLeftLine())
lineR = jsonBool(robohat.irRightLine())
sonar = robohat.getDistance()
cmpCal = jsonBool(micro_api.isCompassCalibrated())
print "Read sensors!"
msg = '{{"msg":{0},"data":{{"irL":{1},"irR":{2},"lineL":{3},"lineR":{4},"dist":{5},"cmpCal":{6}}}}}'
msg = msg.format(Messages.MSG_SENSOR_DATA, irL, irR, lineL, lineR,
sonar, cmpCal)
server.send(msg)
elif msg == Messages.MSG_FORWARD or msg == Messages.MSG_REVERSE:
revs = 2
speed = 40
clicks = move.getClicks()
if data != None:
if "r" in data:
revs = data["r"]
if "s" in data:
speed = data["s"]
if msg == Messages.MSG_FORWARD:
print "Forward!"
move.forward(revs, speed)
else:
print "Reverse!"
move.reverse(revs, speed)
newClicks = move.getClicks()
irL = jsonBool(robohat.irLeft())
irR = jsonBool(robohat.irRight())
totClicks = newClicks - clicks
reply = '{{"msg":{0},"data":{{"msg":{1},"clicks":{2},"revs":{3},"l":{4},"r":{5}}}}}'
reply = reply.format(Messages.MSG_OK_DONE, msg, totClicks,
(float(totClicks / move.CLICKS_PER_REV)), irL,
irR)
server.send(reply)
elif msg == Messages.MSG_LEFT or msg == Messages.MSG_RIGHT:
revs = 0.5
speed = 100
clicks = move.getClicks()
if data != None:
if "r" in data:
revs = data["r"]
if "s" in data:
speed = data["s"]
if msg == Messages.MSG_LEFT:
print "Left!"
move.left(revs, speed)
else:
print "Right!"
move.right(revs, speed)
newClicks = move.getClicks()
totClicks = newClicks - clicks
irL = jsonBool(robohat.irLeft())
irR = jsonBool(robohat.irRight())
reply = '{{"msg":{0},"data":{{"msg":{1},"clicks":{2},"revs":{3},"l":{4},"r":{5}}}}}'
reply = reply.format(Messages.MSG_OK_DONE, msg, totClicks,
(float(totClicks / move.CLICKS_PER_REV)), irL,
irR)
server.send(reply)
elif msg == Messages.MSG_SONAR_UP:
print "Sonar up!"
tilt.up()
elif msg == Messages.MSG_SONAR_CENTRE:
print "Sonar centre!"
tilt.centre()
elif msg == Messages.MSG_SONAR_DOWN:
print "Sonar down!"
tilt.down()
elif msg == Messages.MSG_SONAR_LOW:
print "Sonar low!"
tilt.low()
elif msg == Messages.MSG_SONAR_MID:
print "Sonar middle!"
yaw.mid()
elif msg == Messages.MSG_SONAR_LEFT:
print "Sonar left!"
yaw.left()
elif msg == Messages.MSG_SONAR_RIGHT:
print "Sonar right!"
yaw.right()
elif msg == Messages.MSG_SONAR_SCAN:
sonarScan()
elif msg == Messages.MSG_PARK_SONAR:
yaw.mid()
tilt.park()
elif msg == Messages.MSG_FLOOR_SONAR:
yaw.mid()
tilt.floor()
elif msg == Messages.MSG_GET_CLICKS:
clicks = move.getClicks()
msg = '{{"msg":{0},"data":{{"clicks":{1}}}}}'
msg = msg.format(Messages.MSG_CLICK_DATA, clicks)
server.send(msg)
elif msg == Messages.MSG_RESET_CLICKS:
move.resetClicks()
elif msg == Messages.MSG_TILT_PERCENT or msg == Messages.MSG_YAW_PERCENT:
v = 50
if data != None:
if "v" in data:
val = data["v"]
if msg == Messages.MSG_TILT_PERCENT:
print "Tilt", val
tilt.percentage(val)
else:
print "Yaw", val
yaw.percentage(val)
reply = '{{"msg":{0},"data":{{"msg":{1}}}}}'
reply = reply.format(Messages.MSG_OK_DONE, msg)
server.send(reply)
elif msg == Messages.MSG_DETAIL_SCAN:
hGran = 5
vGran = 5
width = 80
height = 60
x = 50
y = 40
if data != None:
if "hG" in data:
hGran = data["hG"]
if "vG" in data:
vGran = data["vG"]
if "w" in data:
width = data["w"]
if "h" in data:
height = data["h"]
if "x" in data:
x = data["x"]
if "y" in data:
y = data["y"]
print "Scan:", hGran, ",", vGran
detailedSonarScan(hGran, vGran, width, height, x, y)
elif msg == Messages.MSG_FIND_WALL:
print "Find wall!"
clicks = move.getClicks()
yaw.mid()
tilt.park()
move.findWall(35)
newClicks = move.getClicks()
totClicks = newClicks - clicks
irL = jsonBool(robohat.irLeft())
irR = jsonBool(robohat.irRight())
reply = '{{"msg":{0},"data":{{"msg":{1},"clicks":{2},"revs":{3},"l":{4},"r":{5}}}}}'
reply = reply.format(Messages.MSG_OK_DONE, msg, totClicks,
(float(totClicks / move.CLICKS_PER_REV)), irL,
irR)
server.send(reply)
elif msg == Messages.MSG_COMPASS_CALIBRATE:
print "[INFO] Start compass calibration"
micro_api.calibrateCompass()
elif msg == Messages.MSG_COMPASS_GET_HEADING:
heading = micro_api.getCompassHeading()
reply = '{{"msg":{0},"data":{{"heading":{1}}}}}'
print "[INFO] Compass heading: {}".format(heading)
reply = reply.format(Messages.MSG_COMPASS_HEADING, heading)
server.send(reply)
else:
print "[WARN] Not handled!", msg
# Check right
right_distance = right_pulse()
# Decide left/Right
if left_distance >= right_distance:
return "Left"
else:
return "Right"
if __name__ == "__main__":
init()
try:
while True:
dist = int(robohat.getDistance())
print("Distance: ", dist)
left_ir = robohat.irLeft()
right_ir = robohat.irRight()
if not (left_ir or right_ir):
if dist > 50:
robohat.forward(settings["speed"])
print("No obstacles in range to worry about")
time.sleep(0.5)
elif dist > 10:
print("Getting close, speed is: ",
int((settings["speed"]) * float(dist / 50)))
robohat.forward(int(
(settings["speed"]) * float(dist / 50)))
time.sleep(0.5)
elif dist < 10:
import time
import robohat
robohat.init()
try:
while True:
dist = robohat.getDistance()
print "Distance: ", int(dist)
time.sleep(0.1)
except KeyboardInterrupt:
print
pass
finally:
robohat.cleanup()