def evasion():
right_turn_speed = 50
right_turn_time = 0.4
left_turn_speed = 20
left_turn_time = 0.4
go_speed = 5
go_time = 1
try:
go_turn_stop.rightSwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
go_turn_stop.go_forward(go_speed, go_time)
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
while recog_line.get_01()[4] != 0:
go_turn_stop.go_forward_any(go_speed)
while recog_line.get_01()[2] != 0:
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
except:
pass
def evasion():
right_turn_speed = 50
short_time = 0.1
left_turn_speed = 20
long_time = 0.4
go_speed = 5
go_time = 1
dis = 20
try:
get_distance = recog_obs.get_Distance()
while get_distance > dis:
go_turn_stop.rightSwingTurn(right_turn_speed, short_time)
break
go_turn_stop.go_forward(go_speed, go_time)
go_turn_stop.leftSwingTurn(left_turn_speed, long_time)
while recog_line.get_01()[4] != 0:
go_turn_stop.go_forward_any(go_speed)
while recog_line.get_01()[2] != 0:
go_turn_stop.leftSwingTurn(left_turn_speed, short_time)
break
except:
pass
def evasion() :
# Swing Turn 's angle
right_turn_speed = 50
right_turn_time = 0.4
# Point Turn 's angle
left_turn_speed = 30
left_turn_time = 0.4
# The speed that the executor wants
speed = 43
go_time = 1.5
try:
go_turn_stop.right_SwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
go_turn_stop.go_forward(speed,go_time)
go_turn_stop.right_PointTurn(left_turn_speed, left_turn_time)
time.sleep(1)
WB = recog_line.get_01()
while recog_line.numberOfCases(WB) != 'inLine' :
go_turn_stop.just_go_forward(speed)
else :
time.sleep(1)
break
except :
pass
def go_right():
# while back wheel on the line
go_turn_stop.go_forward(forward_speed)
time.sleep(forward_time)
# first 70 turn
go_turn_stop.right_turn(turn_speed, turn_time1)
# plus turn
while recog_line.get_01()[2] != 0:
go_turn_stop.right_turn(turn_speed, turn_time2)
def go_left() :
''' function needed for moving object left and giving recognized line status'''
# Continue until the rear wheel is at the crossroads
go_turn_stop.go_forward(forward_speed)
time.sleep(forward_time)
# Output sensor recognition result
status = recog_line.get_01()
print("this is ", status)
if status == [1, 1, 1, 1, 1] :
# at first, turn 70 degree
go_turn_stop.left_turn2(turn_speed, turn_time1)
while recog_line.get_01()[1] != 0:
# second, give plus turn to move more accurate
go_turn_stop.left_turn2(turn_speed, turn_time2)
print("left turn")
else :
# return nothing, because when we use 'if', 'break' sometimes operate oddly
return
def U_turn() :
''' function needed to do u-turn when the object meets Dead-end path'''
# Move forward a little
go_turn_stop.go_forward(forward_speed)
time.sleep(0.5)
# at first, turn 130 degree
go_turn_stop.right_turn2(turn_speed, turn_time1)
while recog_line.get_01()[2] != 0:
# second, give plus turn to move more accurate
go_turn_stop.right_turn2(turn_speed, turn_time2)
print("U turn")
def go_right() :
''' function needed to move object right'''
# Continue until the rear wheel is at the crossroads
go_turn_stop.go_forward(forward_speed)
time.sleep(forward_time)
print("go forward")
# at first, turn 70 degree
go_turn_stop.right_turn2(turn_speed, turn_time1)
# second, give plus turn to move more accurate
while recog_line.get_01()[2] != 0:
go_turn_stop.right_turn2(turn_speed, turn_time2)
print("right turn")
def go_left():
go_turn_stop.go_forward(forward_speed)
time.sleep(forward_time)
# this code go remove is OK??
status = recog_line.get_01()
print("this is ", status)
if status == [1, 1, 1, 1, 1]:
# first 70 turn
go_turn_stop.left_turn(turn_speed, turn_time1)
while status[2] != 0:
# plus turn
go_turn_stop.left_turn(turn_speed, turn_time2)
elif status == [1, 1, 0, 1, 1]:
return
def evasion():
# Swing Turn 's angle
right_turn_speed = 50
right_turn_time = 0.4
# Point Turn 's angle
left_turn_speed = 20
left_turn_time = 0.4
# The speed that the executor wants
speed_high = 43
speed_low = 1.5
try:
go_turn_stop.rightSwingTurn(right_turn_speed, right_turn_time)
time.sleep(1)
while recog_line.get_01() == [0, 0, 0, 0, 0]:
go_turn_stop.rightRoundTurn(speed_high, speed_low)
go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
# go_turn_stop.go_forward(speed,go_time)
#
# go_turn_stop.leftSwingTurn(left_turn_speed, left_turn_time)
# time.sleep(1)
#
# WB = recog_line.get_01()
#
# while [ True for x in WB if x==0]:
# break
#
# else :
# go_turn_stop.forward_any(speed, go_time)
# time.sleep(0.1)
except:
pass
import recog_line
import setup
dis = 17 #20
speed = 20
time = 0.5
try:
while True:
# ultra sensor replies the distance back
distance = recog_obs.get_Distance()
print('distance= ', distance)
# when the distance is above the dis, moving object forwards
while (distance > dis):
W_and_B = recog_line.get_01()
if recog_line.numberOfCases(W_and_B) == 'inLine' :
go_turn_stop.go_forward(speed, time)
elif recog_line.numberOfCases(W_and_B) == 'leftSide' :
go_turn_stop.right_PointTurn(speed, time)
else :
go_turn_stop.left_PointTurn(speed, time)
else :
evasion_obs.evasion()
except KeyboardInterrupt:
go_turn_stop.pwm_low()
def U_turn():
go_turn_stop.go_forward(forward_speed)
time.sleep(0.5)
go_turn_stop.right_turn(turn_speed, turn_time1)
while recog_line.get_01()[2] != 0:
go_turn_stop.right_turn(turn_speed, turn_time2)
import maze_move
# go_right() go_left() U_turn()
import go_turn_stop
# go_forward(speed) stop() pwm_setup() right_turn(speed, running_time) left_turn(speed, running_time)
import setup
# rightmotor(forward) leftmotor(forward)
import recog_line
# get_01() line_status(led_list)
import time
# sleep(time)
status = recog_line.get_01()
speed = 50
# little time
turn_time = 0.5
try:
while True:
line = recog_line.line_status(status)
print(line)
if line == "inLine":
go_turn_stop.go_forward(speed)
elif line == "right":
go_turn_stop.right_turn(speed, turn_time)
elif line == "left":
go_turn_stop.left_turn(speed, turn_time)
elif line == "Uturn":
maze_move.U_turn()
