def __init__(self, config):
roboveroConfig()
self.motors = MotorController(config)
self.cam = VidServer(config)
self.ultrasonic_sensor = UltraSonic(config)
self.ir_sensor = IR(config)
self.target_altitude = config.getfloat("control", "target_altitude")
self.left_clearance = config.getfloat("control", "left_clearance")
self.right_clearance = config.getfloat("control", "right_clearance")
self.pulse_hi = config.getint("control", "pulse_hi")
self.pulse_low = config.getint("control", "pulse_low")
self.pulse_arm = config.getint("control", "pulse_arm")
self.left_channel = config.getint("control", "left_channel")
self.right_channel = config.getint("control", "right_channel")
self.bottom_channel = config.getint("control", "bottom_channel")
class Control():
def __init__(self, config):
roboveroConfig()
self.motors = MotorController(config)
self.cam = VidServer(config)
self.ultrasonic_sensor = UltraSonic(config)
self.ir_sensor = IR(config)
self.target_altitude = config.getfloat("control", "target_altitude")
self.left_clearance = config.getfloat("control", "left_clearance")
self.right_clearance = config.getfloat("control", "right_clearance")
self.pulse_hi = config.getint("control", "pulse_hi")
self.pulse_low = config.getint("control", "pulse_low")
self.pulse_arm = config.getint("control", "pulse_arm")
self.left_channel = config.getint("control", "left_channel")
self.right_channel = config.getint("control", "right_channel")
self.bottom_channel = config.getint("control", "bottom_channel")
def too_low(self):
if self.ultrasonic_sensor.read_measurement() < self.target_altitude:
return True
else:
return False
def left_blocked(self):
if self.ir_sensor.read_left() < self.left_clearance:
return True
else:
return False
def right_blocked(self):
if self.ir_sensor.read_right() < self.right_clearance:
return True
else:
return False
def move_up(self):
self.motors.set_pulse(self.bottom_channel, self.pulse_hi)
def move_down(self):
self.motors.set_pulse(self.bottom_channel, self.pulse_low)
def move_forward(self):
self.motors.set_pulse(self.left_channel, self.pulse_hi)
self.motors.set_pulse(self.right_channel, self.pulse_hi)
def move_back(self):
pass
def move_left(self):
self.motors.set_pulse(self.left_channel, self.pulse_low)
self.motors.set_pulse(self.right_channel, self.pulse_hi)
def move_right(self):
self.motors.set_pulse(self.left_channel, self.pulse_hi)
self.motors.set_pulse(self.right_channel, self.pulse_low)
def hover(self):
self.motors.set_pulse(self.left_channel, self.pulse_low)
self.motors.set_pulse(self.right_channel, self.pulse_low)
