def sensorTest():
ZumoButton().wait_for_press()
sensor = Ultrasonic()
count = 0
while count < 5:
sensor.update()
print(sensor.get_value())
count += 1
def distance():
us = Ultrasonic()
button = ZumoButton()
while True:
button.wait_for_press()
us.update()
reading = us.get_value()
print(reading)
time.sleep(0.6)
def get_distance_value(self):
"""
Shortcut for getting distance
:return: Distance
"""
ultra = Ultrasonic()
ultra.update()
value = ultra.get_value()
return value
def explorer(dist=10):
m = Motors()
u = Ultrasonic()
while u.update() > dist:
m.forward(0.2, 0.2)
m.backward(.1, 0.5)
m.left(.5, 3)
m.right(.5, 3.5)
sleep(2)
while u.update() < dist * 5:
m.backward(.2, 0.2)
m.left(.75, 5)
def explorer(dist=10):
ZumoButton().wait_for_press()
m = Motors(); u = Ultrasonic()
while u.update() > dist:
m.forward(.2,0.2)
m.backward(.1,.5)
m.left(.5,3)
m.right(.5,3.5)
sleep(2)
while u.update() < dist*5:
m.backward(.2,0.2)
m.left(.75,5)
def calculateFront(self):
u_sensor = Ultrasonic()
u_sensor.update()
distance = u_sensor.get_value()
if distance < 5:
self.pri_value = 1000
else:
self.pri_value = 0
return self.pri_value
def explorer(dist=10):
ZumoButton().wait_for_press()
m = Motors(); u = Ultrasonic()
while u.update() > dist:
m.forward(.2,0.2)
m.backward(.1,.5)
m.left(.5,3)
m.right(.5,3.5)
sleep(2)
while u.update() < dist*5:
m.backward(.2,0.2)
m.left(.75,5)
def test():
ZumoButton().wait_for_press()
ultra = Ultrasonic()
m = Motors()
ultra.update()
tall = ultra.get_value()
print("tall: ", tall)
while tall < 5.0:
m.backward(0.2, 1)
print(tall)
ultra.update()
tall = ultra.get_value()
print(tall)
class UltrasonicSensob(Sensob):
def __init__(self):
super(UltrasonicSensob, self).__init__()
self.sensor = Ultrasonic()
self.sensors.append(self.sensor)
def get_value(self):
''' returnerer en verdi = avstand i cm'''
return self.value
def update(self):
self.sensor.update()
self.value = self.sensor.get_value()
return self.value
def get_sensor_values(self, sensor_class):
"""
Helper function to get values afflicted with a sensor
:param sensor_class: Class of the sensor
:return: Values or None
"""
ultra = Ultrasonic()
ultra.update()
sensor = self.get_sensor(sensor_class)
if sensor is not None:
return self.sensors[sensor]
else:
return None
class Peeper(Sensob):
def __init__(self):
super(Peeper, self).__init__()
self.sensor = Ultrasonic()
self.value = -1.0
self.interpretation = 1.0
def update(self):
self.sensor.update()
self.value = self.sensor.get_value()
self.interpret()
def reset(self):
pass
def interpret(self):
if self.value > 90:
self.interpretation = 1.0
else:
self.interpretation = self.value / 90
return self.interpretation
def get_interpretation(self):
return self.interpretation
class CamUltra():
def __init__(self):
self.camera = Camera()
self.range = 30
self.ultrasensor = Ultrasonic()
def update(self):
print('Updating CamUltra')
self.distance = self.ultrasensor.update()
print('dist = ', self.distance)
if self.distance < self.range:
print('Taking a picture in CamUltra')
s = 1
self.image = Imager(image=self.camera.update())
else:
self.image = False
def reset(self):
self.ultrasensor.reset()
self.camera.reset()
class CamUltra():
def __init__(self):
self.camera = Camera()
self.range = 30
self.ultrasensor = Ultrasonic()
def update(self):
print('Updating CamUltra')
self.distance = self.ultrasensor.update()
print('dist = ', self.distance)
if self.distance<self.range:
print('Taking a picture in CamUltra')
s = 1
self.image = Imager(image=self.camera.update())
else:
self.image = False
def reset(self):
self.ultrasensor.reset()
self.camera.reset()
def main():
ultra = Ultrasonic()
while True:
ultra.update()
ultra.get_value()
time.sleep(0.001)
