class Robot:
def __init__(self):
self.w = wheels.wheels()
self.s = Sensors()
self.config = configuration.config()
self.w.setConfig(self.config)
self.s.setConfig(self.config)
self.s.calibration = True
def point(self, goal):
heading = self.s.getHeading()
power = 0
newPower = 0
if heading > goal:
self.w.setSpeed(0, wheels.Direction.Right)
else:
self.w.setSpeed(0, wheels.Direction.Left)
delta = abs(heading - goal)
while delta > 2:
if delta > 90:
power = int(self.minPower * 1.5)
sec = .25
elif delta > 30:
power = int(self.minPower * 1.25)
sec = .1
else:
sec = .05
power = self.minPower
self.w.pulse(seconds=sec, bump=power)
time.sleep(.05)
heading = self.s.getHeading()
delta = abs(heading - goal)
def calibrateCompassNWheels(self):
#First read seems wonky so this is a throw away
north = self.s.getReadings()
time.sleep(.5)
#Actual first reading, also used for north
north = self.s.getReadings()
#Find minimum spin level - > 10 x at .1 second rate
x0 = north[0]
x1 = x0
self.minPower = 0
bump = 5
self.w.setSpeed(0, wheels.Direction.Right)
while abs(x1 - x0) < 10:
x0 = x1
self.minPower += bump
self.w.pulse(seconds=.1, bump=self.minPower)
time.sleep(.1)
x1 = self.s.getReadings()[0]
print("Minimum level: {}".format(self.minPower))
self.w.setSpeed(self.minPower, wheels.Direction.Right)
for i in range(200):
readings = self.s.getReadings()
time.sleep(.05)
print("{}\t{}\t{}\t{}".format(self.s.minx, self.s.maxx, self.s.miny,
self.s.maxy))
self.s.setNorth(north[0], north[1])
self.w.setSpeed(0, wheels.Direction.Left)
self.point(0)
