class MyRobot:
# Constructor, the polarity is here cause some robots may have the
# polarity wrong (i.e. right wheel is going in wrong direction)
# The 'adjust' variables are to adjust for different speeds in the wheels
# it tries to make them in sync.
def __init__(self, left, right, inAdjustmentMode=False):
self.leftWheel = left
self.rightWheel = right
self.myBot = Finch()
# Keep track of the direction you should try on obstacles
self.obstacleDirectionToTry = finchConstants.LEFT
self.lastScrapedSide = " "
# Keep track of when the last time you moved forward, we use that
# to identify sensors
self.lastTimeIMovedForward = -1
# Use vars below for logging when
self.lastPersistedLeftObstacleState = False
self.lastPersistedRightObstacleState = False
# Obstacle reading goes haywire... we'll count up readings within
# an interval and use the overall score to report
self.lastObstacleReading = 0.0
self.lastObstacleReadingLeftScores = [0, 0, 0, 0, 0]
self.lastObstacleReadingRightScores = [0, 0, 0, 0, 0]
self.scorePosition = 0
self.obstacleNumberOfScores = len(self.lastObstacleReadingLeftScores)
self.obstacleState = {
"left": False,
"leftStateTime": 0.0,
"leftElapsedTime": 0.0,
"right": False,
"rightStateTime": 0.0,
"rightElapsedTime": 0.0
}
# If true then wheel speed will be adjusted by the constants
self.inWheelAdjustmentMode = inAdjustmentMode
self.lasttime = time.time()
self.update(self.inWheelAdjustmentMode)
# Reset the state of the sensors
def resetState(self):
self.obstacleState["left"] = False
self.obstacleState["leftStateTime"] = 0.0
self.obstacleState["leftElapsedTime"] = 0.0
self.obstacleState["right"] = False
self.obstacleState["rightStateTime"] = 0.0
self.obstacleState["rightElapsedTime"] = 0.0
self.lastPersistedLeftObstacleState = False
self.lastPersistedRightObstacleState = False
self.lastObstacleReading = 0.0
self.lastObstacleReadingLeftScores = [0, 0, 0, 0, 0]
self.lastObstacleReadingRightScores = [0, 0, 0, 0, 0]
self.scorePosition = 0
# This is common routine to update the dictionary 'state' items associated
# with the sensors... we need this because we need the state to persist for
# a given amount of time before we think of it as 'real' (the bot sensors are flakey)
# NOTE: The state will only be updated when wheels are moving, or you pass in the
# forceUpdate indicator
def updateMyState(self, forceUpdate=False):
if self.leftWheel != 0.0 or self.rightWheel != 0.0 or forceUpdate:
stateTime = time.time()
leftObst, rightObst = self.myBot.obstacle()
# Because obstacle readings are erradic I take last 5 readings, and report that
# value if sum of array is > 2 then report True else report false
if leftObst == True:
leftIntValue = 1
else:
leftIntValue = 0
if rightObst == True:
rightIntValue = 1
else:
rightIntValue = 0
indexPosition = self.scorePosition % 5
self.lastObstacleReadingLeftScores[indexPosition] = leftIntValue
self.lastObstacleReadingRightScores[indexPosition] = rightIntValue
self.scorePosition = indexPosition + 1
lastReadingElapsed = round(stateTime - self.lastObstacleReading, 3)
finchClassLogger.debug(
"finchClass-updateMyState, lastReadingElapsed: {0}, leftObst: {1} rightObst{2}"
.format(lastReadingElapsed, leftObst, rightObst))
# If reading is less than intervals ignore it
if lastReadingElapsed < OBSTACLE_READING_DELAY:
return
self.lastObstacleReading = stateTime
# Calculate the value for each of the obstacle sensors
leftIntValue = 0
rightIntValue = 0
indexPosition = 0
while indexPosition < self.obstacleNumberOfScores:
leftIntValue += self.lastObstacleReadingLeftScores[
indexPosition]
rightIntValue += self.lastObstacleReadingRightScores[
indexPosition]
indexPosition += 1
if leftIntValue > 2:
leftObstacleReading = True
else:
leftObstacleReading = False
if rightIntValue > 2:
rightObstacleReading = True
else:
rightObstacleReading = False
finchClassLogger.debug(
"finchClass-updateMyState, leftObstacleReading: {0} rightObstacleReading: {1}"
.format(leftObstacleReading, rightObstacleReading))
# State changed or time hasn't been set
if self.obstacleState[
"left"] != leftObstacleReading or self.obstacleState[
"leftStateTime"] == 0.0:
finchClassLogger.info(
"finchClass-updateMyState, STATE Changed, Left was:{0} is:{1}"
.format(str(self.obstacleState["left"]),
str(leftObstacleReading)))
self.obstacleState["left"] = leftObstacleReading
self.obstacleState["leftStateTime"] = stateTime
self.obstacleState["leftElapsedTime"] = 0.0
else:
# Calculate the elapsed time in this state
self.obstacleState["leftElapsedTime"] = round(
stateTime - self.obstacleState["leftStateTime"], 4)
# Same as above but check the right obstacle sensor
if self.obstacleState[
"right"] != rightObstacleReading or self.obstacleState[
"rightStateTime"] == 0.0:
finchClassLogger.info(
"finchClass-updateMyState, STATE Changed, Right was:{0} is:{1}"
.format(str(self.obstacleState["right"]),
str(rightObstacleReading)))
self.obstacleState["right"] = rightObstacleReading
self.obstacleState["rightStateTime"] = stateTime
self.obstacleState["rightElapsedTime"] = 0.0
else:
self.obstacleState["rightElapsedTime"] = round(
stateTime - self.obstacleState["rightStateTime"], 4)
# Helper to return indicator if an obstacle exists, we did this because we need the obstacle to
# persist for an amount of time (thresholdInSecs) before we say it's on
# Caller can specify which sensor to check (LEFT/RIGHT, if they don't then it'll return True if
# either sensor reports an obstacle)
def hasObstacle(self,
whichOne,
thresholdInSecs=OBSTACLE_PERSIST_TIME_REQUIRED):
# Commented out logger... too many messages here, changed 'updateMyState' to report when state changes
# finchClassLogger.debug("finchClass-hasObstacle, obstacleState:{0}".format(str(self.obstacleState)))
leftObst = False
if self.obstacleState["leftElapsedTime"] > thresholdInSecs:
leftObst = self.obstacleState["left"]
if leftObst != self.lastPersistedLeftObstacleState:
finchClassLogger.info(
"finchClass-hasObstacle, PERSISTED Left Obstacle State Change old/new: {0}/{1}"
.format(self.lastPersistedLeftObstacleState, leftObst))
self.lastPersistedLeftObstacleState = leftObst
rightObst = False
if self.obstacleState["rightElapsedTime"] > thresholdInSecs:
rightObst = self.obstacleState["right"]
if leftObst != self.lastPersistedLeftObstacleState:
finchClassLogger.info(
"finchClass-hasObstacle, PERSISTED Right Obstacle State Change old/new: {0}/{1}"
.format(self.lastPersistedRightObstacleState, rightObst))
self.lastPersistedRightObstacleState = rightObst
# finchClassLogger.debug("finchClass-hasObstacle, leftObst:{0} rightObst{1}".format(leftObst,rightObst))
if whichOne == finchConstants.LEFT:
return leftObst
elif whichOne == finchConstants.RIGHT:
return rightObst
elif leftObst == True or rightObst == True:
return True
else:
return False
# Helper function, it returns the wheel speed taking into account what the
# wheel adjustment should be, and it's polarity.
def wheelHelper(self, whichWheel, logModeOnly=False):
# For logging we don't want to show the polarity adjustment... could be
# confusing to people analyzing wheel motion :)
if logModeOnly == False:
rtPol = finchConstants.RIGHTPOLARITY
ltPol = finchConstants.LEFTPOLARITY
else:
rtPol = 1.0
ltPol = 1.0
if whichWheel == "R":
if self.inWheelAdjustmentMode:
return (self.rightWheel +
finchConstants.RIGHTWHEELADJUSTMENT) * rtPol
else:
return self.rightWheel * rtPol
else:
if self.inWheelAdjustmentMode:
return (self.leftWheel +
finchConstants.LEFTWHEELADJUSTMENT) * ltPol
else:
return self.leftWheel * ltPol
# Set the wheel speed (to move, unless both are zero)
def update(self, useAdjustment):
self.inWheelAdjustmentMode = useAdjustment
finchClassLogger.debug(
"finchClass-update, left: {0:.2f} right: {1:.2f}".format(
self.wheelHelper("L"), self.wheelHelper("R")))
if (self.leftWheel != 0.0 or self.rightWheel != 0.0):
# Setting wheel speed, reset the sensors
self.resetState()
self.myBot.wheels(self.wheelHelper("L"), self.wheelHelper("R"))
else:
self.myBot.wheels(0.0, 0.0)
# Stop moving
def stop(self):
self.leftWheel = 0.0
self.rightWheel = 0.0
self.update(False)
# Turn left, we do this by either increasing the speed of the right wheel
# or decreasing the left wheel speed if we're already at max speed
def left(self):
if self.rightWheel >= finchConstants.RIGHTMAXSPEED:
self.leftWheel -= finchConstants.SPEEDINCREMENT
else:
self.rightWheel += finchConstants.SPEEDINCREMENT
self.update(self.inWheelAdjustmentMode)
# Turn left for the desired degrees
def leftTurn(self, degrees2Turn):
self.turnTime = degrees2Turn / 360.0
self.leftWheel = finchConstants.LEFTROTATIONSPEED * -1
self.rightWheel = finchConstants.LEFTROTATIONSPEED
self.update(False)
time.sleep(finchConstants.LEFTROTATIONTIME * self.turnTime)
self.leftWheel = 0
self.rightWheel = 0
self.update(False)
# Turn right, basically increase the speed of the left wheel
# or decreasing right wheel if left wheel already at max speed
def right(self):
if self.leftWheel >= finchConstants.LEFTMAXSPEED:
self.rightWheel -= finchConstants.SPEEDINCREMENT
else:
self.leftWheel += finchConstants.SPEEDINCREMENT
self.update(self.inWheelAdjustmentMode)
# Turn right the specified number of degrees
def rightTurn(self, degrees2Turn):
self.turnTime = degrees2Turn / 360.0
self.leftWheel = finchConstants.RIGHTROTATIONSPEED
self.rightWheel = finchConstants.RIGHTROTATIONSPEED * -1
self.update(False)
time.sleep(finchConstants.RIGHTROTATIONTIME * self.turnTime)
self.leftWheel = 0
self.rightWheel = 0
self.update(False)
# Get the elapsed time
def getElapsedTime(self):
return round(time.time() - self.lasttime, 4)
# Reset the elapsed timer
def resetTimer(self):
self.lasttime = time.time()
# Run... set wheels to max speed
def run(self):
self.leftWheel = finchConstants.LEFTMAXSPEED
self.rightWheel = finchConstants.RIGHTMAXSPEED
self.update(self.inWheelAdjustmentMode)
# Go faster, we determine the speed increment and increase both wheels by that amount
def faster(self):
increment = min(finchConstants.SPEEDINCREMENT,
finchConstants.LEFTMAXSPEED - self.leftWheel,
finchConstants.RIGHTMAXSPEED - self.rightWheel)
self.leftWheel += increment
self.rightWheel += increment
self.update(self.inWheelAdjustmentMode)
# Set wheels to be at certain speed
def setWheels(self, lftWheel, rtWheel, adJustMode):
self.leftWheel = lftWheel
self.rightWheel = rtWheel
self.inWheelAdjustmentMode = adJustMode
self.update(self.inWheelAdjustmentMode)
# Shutdown the robot
def shutDown(self):
self.myBot.close()
# Return True if robot can move, false if there is some type of
# obstacle
def canMove(self, ignoreObstacles):
# Add logic for other sensors
# If we're going in reverse then don't check sensors
if (self.leftWheel <= 0.0
and self.rightWheel <= 0.0) or ignoreObstacles:
# print("canMove, ignoring obstacles")
return True
else:
self.updateMyState()
rtnValue = (self.hasObstacle("BOTH") == False)
# print("canMove returns {0}".format(rtnValue))
return rtnValue
# Routine when robot feels a scrap (obstacle on one side of it), pass in the side
def getOutOfScrape(self, sideOfScrape):
# Motion is rotate SCRAPEANGLE (if left +, right -)
# Backup SCRAPEBACKUPDISTANCE
# Rotate back to original angle
if sideOfScrape == finchConstants.LEFT:
return botUtils.calculateScrapeMovement(
finchConstants.SCRAPEANGLE,
finchConstants.SCRAPEBACKUPDISTANCE)
else:
return botUtils.calculateScrapeMovement(
-finchConstants.SCRAPEANGLE,
finchConstants.SCRAPEBACKUPDISTANCE)
# Get out of obstacle is similar to the get out of scrap but we use a 45 degree angle and the distance to
# move puts us back 1/2 of the robot's width away
def getOutOfObstacle(self, directionToMove):
# We want to try a position to the left or right that is 1/2 our width away
# Calculate the distance we need to backup first, it's 1/2 width divided by sin(45)
distanceToBackup = round(
(finchConstants.TOTALWIDTH) / botUtils.degreesSin(45), 2)
finchClassLogger.info(
"finchClass-getOutOfObstacle, directionToMove: {0} distanceToBackup: {1}"
.format(directionToMove, str(distanceToBackup)))
if directionToMove == finchConstants.LEFT:
# Want angle of -45 to turn right then backup
return botUtils.calculateScrapeMovement(-45.0, distanceToBackup)
else:
return botUtils.calculateScrapeMovement(45, distanceToBackup)
# Return the direction to try when you hit an obstacle, put logic in here
def getObstacleDirectionToTry(self):
return self.obstacleDirectionToTry
def flipObstacleDirectionToTry(self):
if self.obstacleDirectionToTry == finchConstants.LEFT:
self.obstacleDirectionToTry = finchConstants.RIGHT
else:
self.obstacleDirectionToTry = finchConstants.LEFT
finchClassLogger.info(
"finchClass-flipObstacleDirectionToTry, new direction: {0}".format(
self.obstacleDirectionToTry))
# Return the side that was last scraped, since we calculate the direction to move before
# this, it's opposite out current direction... down the road see if you can derive it on
# accelarator
def getLastScrapeSide(self):
if self.obstacleDirectionToTry == finchConstants.LEFT:
return finchConstants.RIGHT
else:
return finchConstants.LEFT
#return self.lastScrapedSide
def isObstacle(self, robotPosition, robotRegionOfTravel):
# Return True if you hit an obstacle (both sensors are true), if you
# only have one sensor then count that as a scrape and return false
# leftObst, rightObst = self.myBot.obstacle()
leftObst = self.hasObstacle(finchConstants.LEFT)
rightObst = self.hasObstacle(finchConstants.RIGHT)
if leftObst == True and rightObst == True:
return True
elif leftObst == True or rightObst == True:
# The robot sensor don't always report true even
# when there's an obstacle right in front of it.
# If the robot is close to the edge of it's region
# of travel then report this as a scrape otherwise
# report it as an obstacle
if self.isRobotCloseToEdge(robotPosition,
robotRegionOfTravel) == True:
if leftObst == True:
self.lastScrapedSide = finchConstants.LEFT
else:
self.lastScrapedSide = finchConstants.RIGHT
return False
else:
return True
return False
# Determines if robot is oriented along the x or y axis (within 10 degree of it)
def robotOrientedAlongAxis(self, robotPosition):
orientedTowardAxis = " "
if (robotPosition[botUtils.POS_OF_ANGLE] < 10
or robotPosition[botUtils.POS_OF_ANGLE] > 350):
orientedTowardAxis = "X+"
elif (robotPosition[botUtils.POS_OF_ANGLE] > 170
and robotPosition[botUtils.POS_OF_ANGLE] < 190):
orientedTowardAxis = "X-"
elif (robotPosition[botUtils.POS_OF_ANGLE] > 80
and robotPosition[botUtils.POS_OF_ANGLE] < 100):
orientedTowardAxis = "Y+"
elif (robotPosition[botUtils.POS_OF_ANGLE] > 260
and robotPosition[botUtils.POS_OF_ANGLE] < 280):
orientedTowardAxis = "Y-"
return orientedTowardAxis
# Determine if robot is close to a particular regions edge
def getRobotClosestEdges(self,
robotPosition,
regionOfTravel,
threshold=THRESHOLDTOSIDE):
# Calculate the distance from coordinates
closeEdges = []
distanceToLeftX = robotPosition[botUtils.POS_OF_X] - regionOfTravel[0]
distanceToRightX = regionOfTravel[2] - robotPosition[botUtils.POS_OF_X]
distanceFromBottomY = robotPosition[
botUtils.POS_OF_Y] - regionOfTravel[1]
distanceFromTopY = regionOfTravel[3] - robotPosition[botUtils.POS_OF_Y]
tempString = "finchClass.py, getRobotClosesEdges, robotPosition: {0} regionOfTravel: {1} threshold: {2}"
finchClassLogger.debug(
tempString.format(str(robotPosition), str(regionOfTravel),
threshold))
tempString = " leftXDist: {0} rightXDist: {1}, lowerYDist: {2} upperYDist: {3}"
finchClassLogger.debug(
tempString.format(distanceToLeftX, distanceToRightX,
distanceFromBottomY, distanceFromTopY))
if (distanceToLeftX <= threshold):
closeEdges.append("LX")
elif (distanceToRightX <= threshold):
closeEdges.append("UX")
if (distanceFromBottomY <= threshold):
closeEdges.append("LY")
elif (distanceFromTopY <= threshold):
closeEdges.append("UY")
return closeEdges
def getFinchReference(self):
return self.myBot
# Revisit this, there's definitely better way to do this... look in to matrix trasnformations
def checkAndSetObstacleDirectionToTry(self,
robotPosition,
regionOfTravel,
threshold=THRESHOLDTOSIDE):
# Get closest edges
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, start")
myCloseEdges = self.getRobotClosestEdges(robotPosition, regionOfTravel,
threshold)
newDirection = " "
if len(myCloseEdges) > 0:
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, values below"
)
for anEdge in myCloseEdges:
finchClassLogger.debug(" {0}".format(str(anEdge)))
# We are close to an edge, get the robot orientation to figure out the edges that
# are used to set new direction... when in x direction we look at y values, when
# pointing in y direction we look at x values
robotOrientation = self.robotOrientedAlongAxis(robotPosition)
if robotOrientation == "X+":
if "UY" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif "LY" in myCloseEdges:
newDirection = finchConstants.LEFT
elif robotOrientation == "X-":
if "UY" in myCloseEdges:
newDirection = finchConstants.LEFT
elif "LY" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif robotOrientation == "Y+":
if "UX" in myCloseEdges:
newDirection = finchConstants.LEFT
elif "LX" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif robotOrientation == "Y-":
if "UX" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif "LX" in myCloseEdges:
newDirection = finchConstants.LEFT
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, oldDirection: {0} newDirection: {1}"
.format(self.obstacleDirectionToTry, newDirection))
if newDirection != self.obstacleDirectionToTry:
self.flipObstacleDirectionToTry()
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, start")
# Helper just returns true or false stating that we're close to edge.
def isRobotCloseToEdge(self,
robotPosition,
regionOfTravel,
threshold=THRESHOLDTOSIDE):
edgesCloseTo = self.getRobotClosestEdges(robotPosition, regionOfTravel,
threshold)
if len(edgesCloseTo) > 0:
return True
else:
return False
# Set the finches nose color :)
def setLedColor(self, theColor):
if theColor == finchConstants.RED:
self.myBot.led(255, 0, 0)
elif theColor == finchConstants.GREEN:
self.myBot.led(0, 255, 0)
elif theColor == finchConstants.BLUE:
self.myBot.led(0, 0, 255)
# Return status of all robot attributes
def status(self):
# This returns elapsed time since clock was set and a tuple with the attributes, the wheels, obstacle and lights
# are tuples (so it's a tuple of tuples (except for temp))
leftObst, rightObst = self.myBot.obstacle()
currStat = (self.getElapsedTime(), (self.wheelHelper("L", True),
self.wheelHelper("R", True)),
self.myBot.temperature(), (self.myBot.light()),
(leftObst, rightObst), (self.myBot.acceleration()))
return currStat
"""Help the Finch navigate a maze."""
from finch import Finch
from time import sleep
# initialize state
finch = Finch()
done = False
while not done:
# read current sensor values
x, y, z, tap, shake = finch.acceleration()
left_light, right_light = finch.light()
left_obstacle, right_obstacle = finch.obstacle()
temp = finch.temperature()
# did it just get dark?
if left_light < 0.35 or right_light < 0.35:
done = True
# RED: is something in the way?
elif left_obstacle or right_obstacle:
finch.led(255, 0, 0)
finch.wheels(-0.75, -0.75)
sleep(0.50)
# GREEN: all clear, move ahead!
else:
finch.led(0, 255, 0)
finch.wheels(0.75, 0.75)
# testfinchfunctions, an example program for the Finch
# Tests all parts of the Finch: prints all sensor values, changes the led
# moves the wheels and beeps the buzzer.
from time import sleep
from finch import Finch
finch = Finch()
print('Temperature %5.2f' % finch.temperature())
print()
finch.wheels(1.0, -1.0)
sleep(0.5)
finch.wheels(0.0, 0.0)
for count in range(5):
finch.led(0, 50*count, 0)
x, y, z, tap, shake = finch.acceleration()
print ('Acceleration %5.3f, %5.3f %5.3f %s %s' %
(x, y, z, tap, shake))
left_light, right_light = finch.light()
print ('Lights %5.3f, %5.3f' % (left_light, right_light))
left_obstacle, right_obstacle = finch.obstacle()
print('Obstacles %s, %s' % (left_obstacle, right_obstacle))
print()
finch.buzzer(0.8, 100*count)
sleep(1)
finch.led('#FF0000')
finch.buzzer(5, 440)
left_wheel = 0
break
elif finchy == "d":
if right_wheel + left_wheel <= 1:
left_wheel = left_wheel + 0.2
else:
right_wheel = right_wheel - 0.2
elif finchy == "a":
if right_wheel + left_wheel <= 1:
right_wheel = right_wheel + 0.2
else:
left_wheel = left_wheel - 0.2
elif finchy == "s":
left_wheel = 0
right_wheel = 0
elif finchy == "red":
led_red = input("How much?")
elif finchy == "green":
led_green = input("How much?")
elif finchy == "blue":
led_blue = input("How much?")
elif finchy == "temp":
print(str(finch.temperature()) + " degrees celcius")
finch.wheels(left_wheel, right_wheel)
finch.led(led_red, led_green, led_blue)
finch.close()
# testfinchfunctions, an example program for the Finch
# Tests all parts of the Finch: prints all sensor values, changes the led
# moves the wheels and beeps the buzzer.
from time import sleep
from finch import Finch
finch = Finch()
print('Temperature %5.2f' % finch.temperature())
print()
finch.wheels(1.0, -1.0)
sleep(0.5)
finch.wheels(0.0, 0.0)
for count in range(5):
finch.led(0, 50 * count, 0)
x, y, z, tap, shake = finch.acceleration()
print('Acceleration %5.3f, %5.3f %5.3f %s %s' % (x, y, z, tap, shake))
left_light, right_light = finch.light()
print('Lights %5.3f, %5.3f' % (left_light, right_light))
left_obstacle, right_obstacle = finch.obstacle()
print('Obstacles %s, %s' % (left_obstacle, right_obstacle))
print()
finch.buzzer(0.8, 100 * count)
sleep(1)
finch.led('#FF0000')
finch.buzzer(5, 440)
sleep(5)
from finch import Finch
from time import sleep
f = Finch()
zAccel = f.acceleration()[2]
i_temp = f.temperature()
i_l_light, i_r_light = f.light()
alpha_light = 0.20
alpha2_light = 0.25
alpha_temp = 0.65
while zAccel > -0.7:
left_obstacle, right_obstacle = f.obstacle()
l_light, r_light = f.light()
temp = f.temperature()
print(temp)
if temp > i_temp + alpha_temp:
k = 1
while k < 11:
f.led(141, 21, 165)
f.wheels(-1, -1)
sleep(0.2)
f.led(255, 255, 255)
f.wheels(1, 1)
sleep(0.2)
