slight_turn_speed = int(.7 * fwd_speed) turn_speed = int(.7 * fwd_speed) last_val = [0] * 5 # An array to keep track of the previous values. curr = [0] * 5 # An array to keep track of the current values. gopigo.set_speed(fwd_speed) gpg_en = 1 # Enable/disable gopigo msg_en = 1 # Enable messages on screen. Turn this off if you don't want messages. # Get line parameters line_pos = [0] * 5 white_line = line_sensor.get_white_line() black_line = line_sensor.get_black_line() range_sensor = line_sensor.get_range() threshold = [a + b / 2 for a, b in zip(white_line, range_sensor)] # Make an iterator that aggregates elements from each of the iterables. # Position to take action on mid = [0, 0, 1, 0, 0] # Middle Position. mid1 = [0, 1, 1, 1, 0] # Middle Position. small_l = [0, 1, 1, 0, 0] # Slightly to the left. small_l1 = [0, 1, 0, 0, 0] # Slightly to the left. small_r = [0, 0, 1, 1, 0] # Slightly to the right. small_r1 = [0, 0, 0, 1, 0] # Slightly to the right. left = [1, 1, 0, 0, 0] # Slightly to the left. left1 = [1, 0, 0, 0, 0] # Slightly to the left. right = [0, 0, 0, 1, 1] # Sensor reads strongly to the right. right1 = [0, 0, 0, 0, 1] # Sensor reads strongly to the right.
def get_black_calibration(self):
return line_sensor.get_black_line()
poll_time = 0.01 # Time between polling the sensor, seconds.
slight_turn_speed = int(.8 * speed)
turn_speed = int(.8 * speed)
last_val = [0] * 5 # An array to keep track of the previous values.
curr = [0] * 5 # An array to keep track of the current values.
gpg_en = 0 #Enable/disable gopigo
msg_en = 0 #Enable messages on screen. Turn this off if you don't want messages.
#Get line parameters
line_pos = [0] * 5
white_line = line_sensor.get_white_line()
black_line = line_sensor.get_black_line()
range_sensor = line_sensor.get_range()
threshold = [
a + b / 2 for a, b in zip(white_line, range_sensor)
] # Make an iterator that aggregates elements from each of the iterables.
#Position to take action on
mid = [0, 0, 1, 0, 0] # Middle Position.
mid1 = [0, 1, 1, 1, 0] # Middle Position.
small_l = [0, 1, 1, 0, 0] # Slightly to the left.
small_l1 = [0, 1, 0, 0, 0] # Slightly to the left.
small_r = [0, 0, 1, 1, 0] # Slightly to the right.
small_r1 = [0, 0, 0, 1, 0] # Slightly to the right.
left = [1, 1, 0, 0, 0] # Slightly to the left.
left1 = [1, 0, 0, 0, 0] # Slightly to the left.
right = [0, 0, 0, 1, 1] # Sensor reads strongly to the right.
def black_line_set_OnButtonClick(self,event):
for i in range(2):
line_sensor.get_sensorval()
line_sensor.set_black_line()
line_val=line_sensor.get_black_line()
self.label.SetLabel("Black Line : "+str(line_val))
def black_line_set_OnButtonClick(self, event):
for i in range(2):
line_sensor.get_sensorval()
line_sensor.set_black_line()
line_val = line_sensor.get_black_line()
self.label.SetLabel("Black Line : " + str(line_val))
def get_black_calibration(self):
return line_sensor.get_black_line()
print "WHITE LINE SETUP!!"
while True:
print "Keep all the sensors over a white strip and press [Enter]"
raw_input()
print "--> Line sensor value: ",
get_sensorval()
print get_sensorval()
print "If the reading look good, press 'y' and [Enter] to continue"
inp = raw_input()
if inp == 'y':
line_sensor.set_white_line()
break
print "White Line Values set: ",
print line_sensor.get_white_line()
print "BLACK LINE SETUP!!"
while True:
print "Keep all the sensors over a black strip and press [Enter]",
raw_input()
print "--> Line sensor value: ",
get_sensorval()
print get_sensorval()
print "If the reading look good, press 'y' and [Enter] to continue"
inp = raw_input()
if inp == 'y':
line_sensor.set_black_line()
break
print "White Line Values set: ",
print line_sensor.get_black_line()
print "WHITE LINE SETUP" while True: print "\nKeep all the sensors over a white strip and press ENTER", raw_input() print "--> Line sensor readings: ", get_sensorval() print get_sensorval() print "If the reading look good, press 'y' and Enter to continue, any other key to read again" inp=raw_input() if inp=='y': line_sensor.set_white_line() break print "White Line values set:", print line_sensor.get_white_line() print "BLACK LINE SETUP" while True: print "\nKeep all the sensors over a black strip and press ENTER", raw_input() print "--> Line sensor readings: ", get_sensorval() print get_sensorval() print "If the reading look good, press 'y' and Enter to continue, any other key to read again" inp=raw_input() if inp=='y': line_sensor.set_black_line() break print "Black Line values set:", print line_sensor.get_black_line()