class Robot:
def __init__(self, name, ammo):
self.name = name
self.current_degree = 0
self.ammunition_count = ammo
self.degrees = range(0, 101, 10)
self.serial_connection = serial.Serial("/dev/ttyACM0", 9600)
self.seven_seg_one = Display(SDI=11, RCLK=12, SRCLK=13)
self.seven_seg_two = Display(SDI=33, RCLK=32, SRCLK=35)
self.x_axis = Servo(0, "X Axis", self)
self.y_axis = Servo(1, "Y Axis", self)
self.release= Servo(2, "Release", self)
self.sonic = Sonic(16, 18)
self.servos = [self.x_axis, self.y_axis]
self.motor = Motor(37, 38, 40)
def demo(self):
self.x_axis.turn(180)
self.y_axis.turn(170)
self.x_axis.turn(100)
self.y_axis.turn(20)
def calibrate(self):
print "[*]Calibrating"
self.x_axis.turn(180, 0.05)
self.y_axis.turn(90, 0.05)
#self.release.turn(180, 0.05)
print "[*]Done"
def output_value(self, number):
number = str(number)
if len(number) == 2:
self.seven_seg_one.disp_val(int(number[0]))
self.seven_seg_two.disp_val(int(number[1]))
elif len(number) == 1:
self.seven_seg_one.disp_val(0)
self.seven_seg_two.disp_val(int(number[0]))
else:
print "[-] Attempted to print non-two-digit number: {}".format(number)
def main(self):
"""This is to be the main method. It will do the following:
(1) Rotate the main servo in 10 degree segments
(2) Stops and scans for an object
(3) If an object exists, goes into "Firing Mode"
(4) If not, continues on
(5) Once it hits 180, it should reverse down to 0
"""
while True:
for deg in range(0, 181, 10):
self.x_axis.turn(deg, 0.005)
ob_pres = self.sonic.get_dist()
if not (ob_pres is None):
self.y_axis.turn(30)
print "[!]Preparing to Fire"
self.motor.fire()
self.y_axis.turn(90)
for deg in range(0,181, 10)[::-1]:
self.x_axis.turn(deg, 0.005)
ob_pres = self.sonic.get_dist()
if not (ob_pres is None):
self.y_axis.turn(30)
print "[!]Preparing to Fire"
self.motor.fire()
self.y_axis.turn(90)
