async def main_func():
global recv_dict, send_dict, gs_list
while 1:
gs_list = fc.get_grayscale_list()
if recv_dict['CD'][0] == 'on':
if fc.is_on_edge(recv_dict['CD'][1], gs_list):
fc.backward(20)
time.sleep(0.5)
fc.stop()
if recv_dict['TL'][0] == 'on':
if fc.get_line_status(recv_dict['TL'][1], gs_list) == 0:
fc.forward(recv_dict['PW'])
elif fc.get_line_status(recv_dict['TL'][1], gs_list) == -1:
fc.turn_left(recv_dict['PW'])
elif fc.get_line_status(recv_dict['TL'][1], gs_list) == 1:
fc.turn_right(recv_dict['PW'])
if recv_dict['OA'] == 'on':
scan_list = fc.scan_step(35)
if scan_list:
tmp = scan_list[3:7]
if tmp != [2, 2, 2, 2]:
fc.turn_right(recv_dict['PW'])
else:
fc.forward(recv_dict['PW'])
elif recv_dict['OF'] == 'on':
scan_list = fc.scan_step(23)
if scan_list != False:
scan_list = [str(i) for i in scan_list]
scan_list = "".join(scan_list)
paths = scan_list.split("2")
length_list = []
for path in paths:
length_list.append(len(path))
if max(length_list) == 0:
fc.stop()
else:
i = length_list.index(max(length_list))
pos = scan_list.index(paths[i])
pos += (len(paths[i]) - 1) / 2
delta = len(scan_list) / 3
if pos < delta:
fc.turn_left(recv_dict['PW'])
elif pos > 2 * delta:
fc.turn_right(recv_dict['PW'])
else:
if scan_list[int(len(scan_list) / 2 - 1)] == "0":
fc.backward(recv_dict['PW'])
else:
fc.forward(recv_dict['PW'])
elif recv_dict['RD'] == 'on':
fc.scan_step(35)
await asyncio.sleep(0.01)
def main():
while True:
scan_list = fc.scan_step(23)
# print(scan_list)
if not scan_list:
continue
scan_list = [str(i) for i in scan_list]
scan_list = "".join(scan_list)
paths = scan_list.split("2")
length_list = []
for path in paths:
length_list.append(len(path))
# print(length_list)
if max(length_list) == 0:
fc.stop()
else:
i = length_list.index(max(length_list))
pos = scan_list.index(paths[i])
pos += (len(paths[i]) - 1) / 2
# pos = int(pos)
delta = len(scan_list) / 3
# delta *= us_step/abs(us_step)
if pos < delta:
fc.turn_left(speed)
elif pos > 2 * delta:
fc.turn_right(speed)
else:
if scan_list[int(len(scan_list)/2-1)] == "0":
fc.backward(speed)
else:
fc.forward(speed)
def main():
time.sleep(5)
while True:
scan_list = fc.scan_step(buf)
if not scan_list:
continue
tmp = scan_list[2:8]
tmpL = scan_list[2:5]
tmpR = scan_list[5:8]
print(tmp)
if tmp != [2, 2, 2, 2, 2, 2]:
print("Back Off")
fc.backward(pow)
time.sleep(bak)
if sum(tmpL) > sum(tmpR):
print("Turn Left")
fc.turn_left(pow * 2)
else:
print("Turn Right")
fc.turn_right(pow * 2)
else:
fc.forward(pow)
def main():
while True:
scan_list = fc.scan_step(35)
if not scan_list:
continue
tmp = scan_list[3:7]
print(tmp)
if tmp != [2, 2, 2, 2]:
fc.turn_right(speed)
else:
fc.forward(speed)
def drive_n_stop(speed: int = 10):
clear = True
fc.forward(speed)
while clear:
scan_list = fc.scan_step()
if not scan_list:
continue
ahead = scan_list[2:8]
# coast clear full speed ahead
if min(ahead) < 2:
#print("Coast Clear")
clear = False
fc.stop()
def drive_n_stop(speed: int = 5):
clear = True
fc.forward(speed)
while clear:
# scan list returns false until a full 180 deg scan is performed.
scan_list = fc.scan_step(35)
if not scan_list:
continue
ahead = scan_list[2:8]
if min(ahead) < 2:
clear = False
fc.stop()
def move_scan():
# speed = 10 # 30
# speed1= Speed(10)
# speed1.start()
while True:
scan_list = fc.scan_step(50)
if not scan_list:
continue
tmp = scan_list[3:7]
print(tmp)
if tmp != [2,2,2,2]:
# fc.backward(30)
fc.turn_right(speed)
# fc.stop()
else:
fc.forward(speed)
def main():
reset_servo(-65)
while True:
#reset_servo(-65)
scan_list = fc.scan_step(25)
if not scan_list:
continue
tmp = scan_list[3:7]
print(tmp)
if tmp == [2,2,2,2]:
fc.forward(speed)
# reset_servo(-65)
else:
fc.stop()
time.sleep(0.5)
fc.backward(100)
time.sleep(0.5)
fc.stop()
time.sleep(0.5)
fc.turn_right(50)
