def __init__(self):
self.Cpin1 = Pmod_IO(PMODA, 2, "out")
self.Cpin2 = Pmod_IO(PMODA, 3, "out")
self.Cpin3 = Pmod_IO(PMODA, 6, "out")
self.Cpin4 = Pmod_IO(PMODA, 7, "out")
self.sF = Sensor(0,0)
self.sR = Sensor(1,1)
self.sL = Sensor(4,2)
self.pwm = Pmod_PWM(PMODB, 0)
self.period= 20000
self.duty= 70
def __init__(self, R = 10, C = 10, x = 0, y = 0):
self.SF, self.SR, self.SL = Sensor(0, 0), Sensor(1, 1), Sensor(4, 2)
self.car = Motor()
self.mean = 0
self.map = [['X' for j in range(C)] for i in range(R)] # 'X' for no access; 1,2,3,etc. for path
self.visited = [[False for j in range(C)] for i in range(R)]
self.R, self.C = R, C
self.current = [x, y]
self.limit = 100
self.junction = list()
self.counter = 0
self.path = list()
self.map[x][y] = 0
self.visited[x][y] = True
#-----------------------------------------------------
import time
import numpy as np
from pynq import Overlay
Overlay("base.bit").download()
from UltraSonic1 import Sensor
#from Motor1 import Motor
#will follow the logic of riding the right wall until it gets to the end
m = Motor()
sF = Sensor(0,0)
sR = Sensor(1,1)
sL = Sensor(4,2)
def getSurroundings():
F = np.median([sF.getDistance() for i in range(10)])
R = np.median([sR.getDistance() for i in range(10)])
L = np.median([sL.getDistance() for i in range(10)])
output = []
output.append(int(L < 40))
output.append(int(F < 40))
output.append(int(R < 40))
output.append(int(L ))
output.append(int(F ))
output.append(int(R ))
return output