print "Running obstacle avoidance code." # Import libraries. import Lobsang, time, random, sys # Initialise Lobsang. Lobsang.begin() # Point the head straight forward. Lobsang.head.aim(1430, 1430) # This becomes a map of the distances from the robot's head # each time turn_optimum_distance() is run. Length 7. dist_map = [0, 0, 0, 0, 0, 0, 0] # This becomes a log of the distances from the robot's head # over a number of cycles. If lots of the measurements are # similar but the robot is driving forward, then it has # probably got stuck on something it can't see. Length 10. dist_log = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] # Number of loops per second- this is only approximate. # Real loops per sec = 1 / LPS + time loop takes to complete. LPS = 10.0 # This is the number of loops before the random direction # checks begin again, but initially represented in seconds. loops_before_recheck = 2 loops_before_recheck *= LPS # To get actual number of loops. # Number of loops done so far. loops_since_last_check = 0
launch_ball = False
paddle_open = False
open_guide = True
opened = True
redraw = False
# Set up pygame.
pygame.init()
DISPLAYSURF = pygame.display.set_mode((1280, 800))
pygame.display.set_caption('Lobsang Skittles Challenge')
clock = pygame.time.Clock()
# Set up Lobsang.
Lobsang.begin(splashscreen=False)
Lobsang.wheels.calibrate_speeds(-0.6)
Lobsang.head.aim(1380, 1550)
#Lobsang.head.laser(True)
# Tell the Duino that the launcher is connected.
Lobsang.launcher.connect()
Lobsang.launcher.open_guide()
Lobsang.launcher.reset_paddle()
# Print the interface info on the oled.
Lobsang.oled.clear_buffer()
Lobsang.oled.write("Skittles", pos=(0, 0), size=16)
Lobsang.oled.write("Control with W, A, S, D keys.")
Lobsang.oled.write("Control paddle with K, O, P keys.")
Lobsang.oled.write("Press ESC to quit.")
Lobsang.oled.refresh()
#!/usr/bin/env python # # boot.py- checks if the RasPiO Duino, # RasPiCam and OLED are all connected. # Returns a sys.exit() code depending # on what errors occurs. 0 on all ok. # # Created Nov 2015 by Finley Watson import Lobsang import sys Lobsang.begin(0) if not Lobsang.gpio_access: sys.exit(16) import subprocess import os from time import sleep import RPi.GPIO as GPIO number_of_offline_systems = 0 binary_offline_flag = 0 # 0b001 (1) == duino offline, 0b011 (3) == oled and duino offline, 0b100 (4) == camera offline etc oled_offline = False duino_offline = False camera_offline = False Lobsang.duino.enable()
