def station_center(self):
self.shared["autoMotor"] = True
self.regulate()
package = se.detect_package(*self.shared["distance"])
front_values = self.shared["lineSensor"][:]
center_values = self.shared["middleSensor"][:]
self.linedet.add_values(front_values, center_values)
front_station = self.linedet.station_front()
center_station = self.linedet.station_center()
if center_station == se.NO_STATION:
log.info("Leaving center station.")
self.refresh_flush_timer()
self.change_state(LINE)
elif front_station != se.NO_STATION:
front_obj = Station.create(front_station, package)
log.info("Found front station with empty=%s and left=%s." %(str(front_obj.is_empty()), str(front_obj.is_left())))
self.station_queue.append(front_obj)
log.info([str(e) for e in self.station_queue])
self.change_state(STATION_BOTH)
def line(self):
self.shared["autoMotor"] = True
if self.should_flush() and self.station_queue:
self.flush_station_queue()
return
self.regulate()
package = se.detect_package(*self.shared["distance"])
front_values = self.shared["lineSensor"][:]
center_values = self.shared["middleSensor"][:]
self.linedet.add_values(front_values, center_values)
front_station = self.linedet.station_front()
center_station = self.linedet.station_center()
if front_station != se.NO_STATION:
front_obj = Station.create(front_station, package)
log.info("Found front station with empty=%s and left=%s." %(str(front_obj.is_empty()), str(front_obj.is_left())))
self.station_queue.append(front_obj)
log.info([str(e) for e in self.station_queue])
self.change_state(STATION_FRONT)
elif center_station != se.NO_STATION:
self.handle_center_station()