def update(self, stop_event):
# Mobot hardware update loop
# self.alphacv() # Removed: Image Processing doesnt happen here anymore
while not stop_event.is_set():
self.touchcount = abs(self.touchcount - 1)
BrickPi.MotorSpeed[L] = self.vL
BrickPi.MotorSpeed[L1] = self.vL
BrickPi.MotorSpeed[R] = self.vR
BrickPi.MotorSpeed[R1] = self.vR
result = BrickPiUpdateValues()
if not result:
# Successfully updated values
# Read touch sensor values
if BrickPi.Sensor[S2]:
# Prevent signal disturbances
threshold = int(28 - self.values['TCHS'] * 20)
self.touchcount += 2
if self.touchcount > threshold:
# Increment gates count
self.status['GATC'] += 1
# Reset signal strength
self.touchcount = 0
# Update encoder values
self.encL = BrickPi.Encoder[L]
self.encR = BrickPi.Encoder[R]
speeds = self.calculateMobotMovement()
self._setMotorSpeed(speeds[0], speeds[1])
self._updateStatus()
# Emergency Abort
if (not GPIO.input(ABORT_BTN)):
warn('manually aborting mission!!!')
self.stopMission()
CAMERA.close()
sys.exit(0)
# Ramp Adapatation
incline_btn = not GPIO.input(RAMP_BTN)
if ((not self.incline_btn_prev) and incline_btn):
# Button is pressed, set inclined
self.setInclined()
elif ((self.incline_btn_prev) and not incline_btn):
# Button is released, unset inclined
self.unsetInclined()
self.incline_btn_prev = incline_btn
# Update Terminal Feedback
# Should be disabled for safety considerations -> STABLE_MODE
if term2 != None and not STABLE_MODE:
c = term2.scr.getch()
if c == 410:
info("@terminal: resize event")
term2.resizeAll()
term2.refreshAll()
def update(self, stop_event):
# Mobot hardware update loop
# self.alphacv() # Removed: Image Processing doesnt happen here anymore
while not stop_event.is_set():
self.touchcount = abs(self.touchcount - 1)
BrickPi.MotorSpeed[L] = self.vL
BrickPi.MotorSpeed[L1] = self.vL
BrickPi.MotorSpeed[R] = self.vR
BrickPi.MotorSpeed[R1] = self.vR
result = BrickPiUpdateValues()
if not result:
# Successfully updated values
# Read touch sensor values
if BrickPi.Sensor[S2]:
# Prevent signal disturbances
threshold = int(28 - self.values['TCHS'] * 20)
self.touchcount += 2
if self.touchcount > threshold:
# Increment gates count
self.status['GATC'] += 1
# Reset signal strength
self.touchcount = 0
# Update encoder values
self.encL = BrickPi.Encoder[L]
self.encR = BrickPi.Encoder[R]
speeds = self.calculateMobotMovement()
self._setMotorSpeed(speeds[0], speeds[1])
self._updateStatus()
# Update Terminal Feedback
if term2 != None and not STABLE_MODE:
c = term2.scr.getch()
if c == 410:
info("@terminal: resize event")
term2.resizeAll()
term2.refreshAll()
