def loop(self):
ModeProgram.loop(self)
if self.is_mode_done():
self.next_mode()
return self.status()
def loop(self):
ModeProgram.loop(self)
if self.mode == 0:
return self.goto('fwd-1')
if self.mode == 'fwd-1':
d = obstacle_average()
if d > self.params['obstacle_thresh']:
self.first_obstacle_reading = d
return self.goto('ccw-c')
if self.mode == 'ccw-c':
if self.has_rotated(self.params['compare_rotation']):
myro.stop()
d = obstacle_average()
if d < self.first_obstacle_reading:
self.around_mult_f = 1
else:
self.around_mult_f = -1
return self.goto('cw-c')
if self.mode == 'cw-c':
if self.has_rotated(self.params['compare_rotation']):
self.around_mult = self.around_mult_f
return self.goto('ccw-1')
if self.mode == 'ccw-1':
if self.at_right_angle():
return self.goto('fwd-2')
if self.mode == 'fwd-2':
if self.has_travelled(self.params['check_dist']):
return self.goto('cw-1')
if self.mode == 'cw-1':
if self.at_right_angle():
myro.stop()
if obstacle_average() > self.params['obstacle_thresh']:
return self.goto('ccw-1')
else:
return self.goto('ccw-2')
if self.mode == 'ccw-2':
if self.at_right_angle():
return self.goto('fwd-3')
if self.mode == 'fwd-3':
if self.has_travelled(self.params['overshoot_front']):
return self.goto('cw-2')
if self.mode == 'cw-2':
if self.at_right_angle():
if self.side == 'front':
return self.goto('fwd-4')
else:
return self.goto('fwd-5')
if self.mode == 'fwd-4':
if self.has_travelled(self.params['overshoot_side']):
self.side = 'side'
return self.goto('cw-1')
if obstacle_average() > self.params['obstacle_thresh']:
myro.stop()
return self.goto('ccw-1')
if self.mode == 'fwd-5':
if self.has_travelled(self.x_pos * self.params['return_factor']):
return self.goto('ccw-3')
if obstacle_average() > self.params['obstacle_thresh']:
myro.stop()
return self.goto('ccw-1')
if self.mode == 'ccw-3':
if self.at_right_angle():
self.reset()
self.start()
return "restarting program"
def loop(self):
ModeProgram.loop(self)
if self.mode == 0:
return self.goto('fwd-1')
if self.mode == 'fwd-1':
d = obstacle_average()
if d > self.params['obstacle_thresh']:
self.first_obstacle_reading = d
return self.goto('ccw-c')
if self.mode == 'ccw-c':
if self.has_rotated(self.params['compare_rotation']):
myro.stop()
d = obstacle_average()
if d < self.first_obstacle_reading:
self.around_mult_f = 1
else:
self.around_mult_f = -1
return self.goto('cw-c')
if self.mode == 'cw-c':
if self.has_rotated(self.params['compare_rotation']):
self.around_mult = self.around_mult_f
return self.goto('ccw-1')
if self.mode == 'ccw-1':
if self.at_right_angle():
return self.goto('fwd-2')
if self.mode == 'fwd-2':
if self.has_travelled(self.params['check_dist']):
return self.goto('cw-1')
if self.mode == 'cw-1':
if self.at_right_angle():
myro.stop()
if obstacle_average() > self.params['obstacle_thresh']:
return self.goto('ccw-1')
else:
return self.goto('ccw-2')
if self.mode == 'ccw-2':
if self.at_right_angle():
return self.goto('fwd-3')
if self.mode == 'fwd-3':
if self.has_travelled(self.params['overshoot_front']):
return self.goto('cw-2')
if self.mode == 'cw-2':
if self.at_right_angle():
if self.side == 'front':
return self.goto('fwd-4')
else:
return self.goto('fwd-5')
if self.mode == 'fwd-4':
if self.has_travelled(self.params['overshoot_side']):
self.side = 'side'
return self.goto('cw-1')
if obstacle_average() > self.params['obstacle_thresh']:
myro.stop()
return self.goto('ccw-1')
if self.mode == 'fwd-5':
if self.has_travelled(self.x_pos * self.params['return_factor']):
return self.goto('ccw-3')
if obstacle_average() > self.params['obstacle_thresh']:
myro.stop()
return self.goto('ccw-1')
if self.mode == 'ccw-3':
if self.at_right_angle():
self.reset()
self.start()
return "restarting program"
def loop(self):
ModeProgram.loop(self)
if self.is_mode_done():
self.next_mode()
return self.status()
