def run(self):
self.running = True
debug.print_to_all_devices("Challenge 'Straight line' Started.")
# self.arduino_sensor_data.start() # starts the new process and runs in the background
self.arduino_sensor_data.start()
time.sleep(0.2)
while self.running:
drive.forward(self.dalek_settings.max_speed)
time.sleep(.1)
# # detects we have finished the challenge.
if self.arduino_sensor_data.frontPing <= 18:
drive.stop()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
self.arduino_sensor_data.frontPing))
self.stop_running()
if self.arduino_sensor_data.leftPing <= 5:
debug.print_to_all_devices("turnForwardRight", "TrR")
drive.turnForwardRight(self.dalek_settings.outer_turn_speed,
self.dalek_settings.inner_turn_speed)
time.sleep(.05)
drive.forward(self.dalek_settings.max_speed)
if self.arduino_sensor_data.rightPing <= 5:
debug.print_to_all_devices("turnForwardLeft", "TrL")
drive.turnForwardLeft(self.dalek_settings.inner_turn_speed,
self.dalek_settings.outer_turn_speed)
time.sleep(.05)
drive.forward(self.dalek_settings.max_speed)
def speedtest2():
global speed, greatestMag
drive.turnForwardLeft(speed, speed)
time.sleep(0.5)
speed -= 10
mag = spi.getMag()
if mag > greatestMag:
greatestMag = mag
print("\nmag:{} Speed:{}".format(mag, speed))
return speed, greatestMag
def tank_drive(_leftPaddle, _rightPaddle):
debug.print_to_all_devices("left: {} Right: {}".format(
_leftPaddle, _rightPaddle))
if (_leftPaddle == 0) and (_rightPaddle == 0):
drive.stop()
debug.clear()
elif (_leftPaddle < 0) and (_rightPaddle < 0):
drive.paddleForward(-_leftPaddle, -_rightPaddle)
# debug.print_to_all_devices("forwards","Fw")
elif (_leftPaddle > 0) and (_rightPaddle > 0):
drive.paddleBackward(_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Backwards", "Bw")
elif (_leftPaddle <= 0) and (_rightPaddle >= 0):
drive.turnForwardRight(-_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Spin Right", "SR")
elif (_leftPaddle >= 0) and (_rightPaddle <= 0):
drive.turnForwardLeft(_leftPaddle, -_rightPaddle)
def straight_line_speed_test(dalek_settings, dalek_sounds):
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
start_button = False
def button_start_pressed():
print("from straighe line challenge")
while dalek_settings.drive:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(dalek_settings.max_speed)
# detects we have finished the challenge.
if arduino_sensor_data.front_distance <= 10:
drive.cleanup()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
arduino_sensor_data.frontPing))
arduino_sensor_data.running = False
break
if arduino_sensor_data.left_ping <= 5:
debug.print_to_all_devices("turnForwardRight", "TrR")
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
if arduino_sensor_data.right_distance <= 5:
debug.print_to_all_devices("turnForwardLeft", "TrL")
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
arduino_sensor_data.join() # wait for process to finish
debug.print_to_all_devices("Done...")
def start(dalek_settings):
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
while True:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(100)
# detects we have finished the challenge.
if arduino_sensor_data.front_distance <= 10:
drive.cleanup()
print("Center Distance:{}cm Run Finished".format(
arduino_sensor_data.front_distance))
arduino_sensor_data.running = False
break
if arduino_sensor_data.left_distance <= 5:
print("turnForwardRight", "TrR")
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
if arduino_sensor_data.right_distance <= 5:
print("turnForwardLeft", "TrL")
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
# wait for process to finish
print("Done...")
def straight_line_speed_test_1(dalek_settings, dalek_sounds):
'''
finds the middle of the area and drives down it.
'''
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
turning_left = False
turning_right = False
previous_center_value = arduino_sensor_data.left_ping - arduino_sensor_data.right_distance
counter = 0
while dalek_settings.drive:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(dalek_settings.max_speed)
time.sleep(.5)
# detects we have finished the challenge.
if arduino_sensor_data.frontPing <= 10:
drive.cleanup()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
arduino_sensor_data.frontPing))
arduino_sensor_data.running = False
break
center_value = arduino_sensor_data.left_ping - arduino_sensor_data.right_distance
print(center_value)
# if (center_value - 1) <= previous_center_value <= (center_value + 1) :
if previous_center_value == center_value:
# use the if between to stop hunting, a few centermeters either way
# should be fine.
# we are driving parallel to walls
# we should be able to drive forward while moving into the middle.
print("parallel to walls {} {}".format(previous_center_value,
center_value))
else:
print("Not parallel to walls {} {}".format(previous_center_value,
center_value))
counter += 1
if counter == 10:
previous_center_value = center_value
counter = 0
# print(counter)
if (center_value < -2) and turning_right == False:
turning_right = True
turning_left = False
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
debug.print_to_all_devices("turnForwardRight", "TrR")
time.sleep(.05)
# drive.forward(dalek_settings.max_speed)
# time.sleep(.05)
if (center_value > 2) and turning_left == False:
turning_left = True
turning_right = False
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
debug.print_to_all_devices("turnForwardLeft", "TrL")
time.sleep(.05)
# drive.forward(dalek_settings.max_speed)
# time.sleep(.05)
# if -2 <= center_value <= 2:
# # if it is between these values
# # straiten up the bot
# if turning_left
arduino_sensor_data.join() # wait for process to finish
debug.print_to_all_devices("Done...")