def test_infrared_sensor(self):
clean_arena()
populate_arena([('infrared_sensor', 0, 'in1')])
s = InfraredSensor()
self.assertEqual(s.device_index, 0)
self.assertEqual(s.bin_data_format, 's8')
self.assertEqual(s.bin_data('<b'), (16, ))
self.assertEqual(s.num_values, 1)
self.assertEqual(s.address, 'in1')
self.assertEqual(s.value(0), 16)
self.assertEqual(s.mode, "IR-PROX")
s.mode = "IR-REMOTE"
self.assertEqual(s.mode, "IR-REMOTE")
val = s.proximity
# Our test environment writes to actual files on disk, so while "seek(0) write(...)" works on the real device, it leaves trailing characters from previous writes in tests. "s.mode" returns "IR-PROXTE" here.
self.assertEqual(s.mode, "IR-PROX")
self.assertEqual(val, 16)
val = s.buttons_pressed()
self.assertEqual(s.mode, "IR-REMOTE")
self.assertEqual(val, [])
def test_infrared_sensor(self):
clean_arena()
populate_arena([('infrared_sensor', 0, 'in1')])
s = InfraredSensor()
self.assertEqual(s.device_index, 0)
self.assertEqual(s.bin_data_format, 's8')
self.assertEqual(s.bin_data('<b'), (16, ))
self.assertEqual(s.num_values, 1)
self.assertEqual(s.address, 'in1')
self.assertEqual(s.value(0), 16)
self.assertEqual(s.mode, "IR-PROX")
s.mode = "IR-REMOTE"
self.assertEqual(s.mode, "IR-REMOTE")
val = s.proximity
self.assertEqual(s.mode, "IR-PROX")
self.assertEqual(val, 16)
val = s.buttons_pressed()
self.assertEqual(s.mode, "IR-REMOTE")
self.assertEqual(val, [])
class ColorTank:
def __init__(self, left_motor_port, right_motor_port, infra_sensor_mode,
color_sensor_mode):
self.__movesteering = MoveSteering(left_motor_port, right_motor_port)
self.__mediummotor = MediumMotor()
self.__cs = ColorSensor()
self.__cs.mode = color_sensor_mode
self.__ir = InfraredSensor()
self.__ir.mode = infra_sensor_mode
def __turn_left(self):
self.__movesteering.on(-50, 30)
def __turn_right(self):
self.__movesteering.on(50, 30)
def __run_forward(self):
self.__movesteering.on(0, 50)
def __run_backward(self):
self.__movesteering.on(0, -20)
def __stop(self):
self.__movesteering.off()
def __play_text_sound(self, words):
sound = Sound()
sound.speak(words)
def __lift_up(self):
self.__mediummotor.on_for_degrees(10, 50)
def __lift_down(self):
self.__mediummotor.on_for_degrees(10, -50)
def __get_button_pressed_value(self, buttons):
BUTTON_VALUES = {
0: [],
1: ['top_left'],
2: ['bottom_left'],
3: ['top_right'],
4: ['bottom_right'],
5: ['top_left', 'top_right'],
6: ['top_left', 'bottom_right'],
7: ['bottom_left', 'top_right'],
8: ['bottom_left', 'bottom_right'],
9: ['beacon'],
10: ['top_left', 'bottom_left'],
11: ['top_right', 'bottom_right']
}
return list(BUTTON_VALUES.keys())[list(
BUTTON_VALUES.values()).index(buttons)]
def __run(self, button_value):
if (button_value == 1):
self.__turn_left()
elif (button_value == 3):
self.__turn_right()
elif (button_value == 5):
self.__run_forward()
elif (button_value == 8):
self.__run_backward()
elif (button_value == 2):
self.__lift_up()
elif (button_value == 4):
self.__lift_down()
# elif(button_value == 2):
# self.__play_text_sound("Lily, I love you")
else:
self.__stop()
def __color_detect(self):
color = self.__cs.color
if (color == 1):
self.__play_text_sound("black")
elif (color == 2):
self.__play_text_sound("blue")
elif (color == 3):
self.__play_text_sound("green")
elif (color == 4):
self.__play_text_sound("yellow")
elif (color == 5):
self.__play_text_sound("red")
elif (color == 6):
self.__play_text_sound("white")
elif (color == 7):
self.__play_text_sound("brown")
else:
pass
def process(self):
self.__ir.process()
buttons_pressed = self.__ir.buttons_pressed()
button_value = self.__get_button_pressed_value(buttons_pressed)
self.__run(button_value)
self.__color_detect()
medium_motor.stop()
# log.info("finished release")
# Start program
buttons_pressed_4 = ''
while len(buttons_pressed_4) == 0:
# log.info("buttons pressed on channel 1: " + str(buttons_pressed_1))
# log.info("buttons pressed on channel 2: " + str(buttons_pressed_2))
# log.info("buttons pressed on channel 3: " + str(buttons_pressed_3))
# log.info("buttons pressed on channel 4: " + str(buttons_pressed_4))
buttons_pressed_1 = infrared_sensor.buttons_pressed(channel=1)
buttons_pressed_2 = infrared_sensor.buttons_pressed(channel=2)
buttons_pressed_3 = infrared_sensor.buttons_pressed(channel=3)
buttons_pressed_4 = infrared_sensor.buttons_pressed(channel=4)
if len(buttons_pressed_1) == 0 and len(buttons_pressed_2) == 0 and len(
buttons_pressed_3) == 0:
steering_drive.off()
if buttons_pressed_1 == ['top_left', 'top_right']:
steering_drive.on(steering=0, speed=SpeedPercent(50))
if buttons_pressed_1 == ['top_left']:
steering_drive.on(steering=-100, speed=SpeedPercent(50))
if buttons_pressed_1 == ['top_right']:
steering_drive.on(steering=100, speed=SpeedPercent(50))
if buttons_pressed_1 == ['bottom_left', 'bottom_right']:
steering_drive.on(steering=0, speed=SpeedPercent(-50))
