print "I think I'm stuck on something."
print "dist_log =", dist_log
Lobsang.voice.say("I think I am stuck")
loops_since_last_check = 0
# Obstacle detected, so move back a bit.
Lobsang.wheels.both(-9)
time.sleep(1)
# Stop moving.
Lobsang.wheels.both(0)
# Measure, compare, then turn to face the direction with the most forward movement available.
turn_optimum_direction()
# Randomly recheck if the current direction still has the furthest distance.
if loops_since_last_check > loops_before_recheck:
if random.randint(0, 10) == 0: # One in ten chance.
print "Decided to recheck optimum route."
Lobsang.voice.say("Rechecking route")
loops_since_last_check = 0
Lobsang.wheels.both(0)
turn_optimum_direction()
else:
loops_since_last_check += 1
# Drive straight forward.
Lobsang.wheels.both(12)
time.sleep(1.0 / LPS)
except:
# Ctrl+C or error in code.
print "Halting obstacle avoidance code."
Lobsang.quit()
elif event.key == K_d:
right = False
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
current_time = time.time()
Lobsang.wheels.both(0, ramped=False)
Lobsang.launcher.disconnect()
Lobsang.head.laser(False)
Lobsang.oled.clear_buffer()
Lobsang.oled.write("Halting Skittles Challenge code.")
Lobsang.oled.refresh(blackout=False)
print "Skittles Challenge: Main loop ran for %s seconds or %i times, with average time per loop of %fs and %s loops per second." %(str(int((current_time - start_time) * 100.0) / 100.0), total_loops, (current_time - start_time) / total_loops, str(int(1 / ((current_time - start_time) / total_loops) * 100.0) / 100.0))
print "Skittles Challenge: Halting."
time.sleep(0.5)
pygame.quit()
Lobsang.quit(screensaver=False)
sys.exit()
left_motor_speed = 0
right_motor_speed = 0
if forward and not True in (left, right, backward): # Only forward key pressed
left_motor_speed = 16
right_motor_speed = 16
#calibration = -0.6
elif backward and not True in (forward, left, right): # Only backward key pressed
left_motor_speed = -16
right_motor_speed = -16
elif left and not True in (forward, right, backward): # Only left key pressed
left_motor_speed = -9
cursor_position = 0
render_menu(menu_position, cursor_position)
elif option_command == "SHUTDOWN":
print "Menu: Shutting down Lobsang..."
pygame.quit()
Lobsang.halt()
time.sleep(10)
elif option_command == "EXIT":
print "Menu: Halting menu."
Lobsang.oled.clear_buffer()
Lobsang.oled.write("Halting menu...")
Lobsang.oled.refresh()
pygame.quit()
Lobsang.quit(False)
sys.exit()
else:
# If the option's command is one for the terminal, run it as one.
print "Menu: Running %s..." %string.lower(option_name)
pygame.quit() # Halt the pygame window because only one pygame window can be open at once, and so you can see any terminal messages printed by script run below.
os.system(option_command)
print "Menu: Finished running %s. Continuing running menu." %string.lower(option_name)
pygame.init() # After the script has finished, restart the pygame window to continue getting keyboard events.
display = pygame.display.set_mode(window_size)
render_menu(menu_position, cursor_position)
elif event.key == K_UP:
# Up key pressed. Scroll the menu options up one line, or the cursor up one line.
if menu_position > 0 and cursor_position == 0:
menu_position -= 1
