def __move_reg(self, degrees, sensor_degrees):
t = Thread(target=self.read_sensors)
start_l, start_r = (self.lm_left.degrees, self.lm_right.degrees)
distance_l, distance_r = 0, 0
while (distance_l < degrees or distance_r < degrees):
speed_l, speed_r = self.__reg()
self.lm_left.on(speed_l, brake=True)
self.lm_right.on(speed_r, brake=True)
ok = self.__check_button()
if (ok is False):
self.lm_left.stop()
self.lm_right.stop()
return False
elif (ok is None):
debug_print("none")
self.lm_left.stop()
self.lm_right.stop()
return None
if ((distance_l >= sensor_degrees or distance_r >= sensor_degrees)
and not t.isAlive()):
t.start()
distance_l = abs(start_l - self.lm_left.degrees)
distance_r = abs(start_r - self.lm_right.degrees)
t.join()
return True
def __check_button(self):
timeout = time.time() + self.regulation_tick
while (time.time() <= timeout): # check for touch sensor
if (self.touch_left.is_pressed or self.touch_right.is_pressed):
return False
if (self.btn.left or self.btn.right):
debug_print("pressed")
return None
time.sleep(0.01)
return True
def Main():
map_var = Map(Ghost_mapping_type.none)
io = IO()
logic = Logic(map_var)
button = Button()
saver = Map_saver(map_var, button)
saver.wait_for_load()
print("READY")
motors = {
Moves.fwd: lambda: io.go_forward(),
Moves.left: lambda: io.go_left(),
Moves.right: lambda: io.go_right(),
Moves.back: lambda: io.go_back()
}
mapping = {
Moves.fwd: lambda: map_var.go_forward(),
Moves.left: lambda: map_var.go_left(),
Moves.right: lambda: map_var.go_right(),
Moves.back: lambda: map_var.go_back()
}
motors[Moves.fwd]()
mapping[Moves.fwd]()
while (True):
clr_sensor = io.directions_free()
us_sensor = io.ghost_distance()
map_var.write_sensor_values(clr_sensor, us_sensor)
debug_print(map_var)
move = logic.get_next_move()
debug_print(map_var)
switch[move]()
if button.any():
saver.wait_for_load()
ok = motors[move]()
if (ok is False):
io.after_crash()
map_var.rotation += int(move)
continue
elif (ok is None):
saver.wait_for_load()
continue
mapping[move]()
saver.save_map()
def sensors_test():
io = IO()
for _ in range(8):
io.read_sensors()
debug_print("us", io.ultrasonic_sensor_values)
debug_print("color", io.color_sensor_values)
def touch_sensor_test():
io = IO()
val = False
while True:
debug_print(io.go_forward())
time.sleep(1)
def after_crash(self):
debug_print("crash")
self.__move(self.after_crash_degrees, self.move_speed)
self.read_sensors()
def load_map(self):
debug_print("loaded")
debug_print(self.map)
with open("map.json", "r+") as f:
self.map.load_map_data([[Map_tile(item) for item in col]
for col in json.load(f)])
def save_map(self):
debug_print("saved")
with open("map.json", "w") as f:
json.dump(self.map.map,
f,
default=lambda obj: obj.value if obj.value != 5 else 1)