def __init__(self) -> None:
self.logging = Logging("events")
self.chassis = Chassis(power_measurement_period=0.3)
self.rgb = RgbLedBlock()
self.display = DisplayBlock()
self.distance = DistanceBlock(measurement_period=0.1)
self.button = ButtonBlock(measurement_period=0.1)
self.ir_block = IrBlock()
self.ir_block.add_remote(IrNumericRemote())
self.button.value.equal_to(True, True, self.change_patrol)
self.near_barrier_event = None
self.far_bariier_event = None
self.enough_space_event = None
self.open_space_event = None
self.patrol = False
self.display.contrast(0)
Ble.value_remote.equal_to(RemoteKey("a"), True, self.turn_left)
Ble.value_remote.equal_to(RemoteKey("d"), True, self.turn_right)
Ble.value_remote.equal_to(RemoteKey("w"), True, self.speed_up)
Ble.value_remote.equal_to(RemoteKey("s"), True, self.slow_down)
Ble.value_remote.equal_to(RemoteKey("z"), True, self.stop)
Ble.value_remote.equal_to(RemoteKey("x"), True, self.reverse)
Ble.value_remote.equal_to(RemoteKey("p"), True, self.change_patrol)
self.ir_block.value.equal_to(IrNumericRemote.key_left, True,
self.turn_left)
self.ir_block.value.equal_to(IrNumericRemote.key_right, True,
self.turn_right)
self.ir_block.value.equal_to(IrNumericRemote.key_top, True,
self.speed_up)
self.ir_block.value.equal_to(IrNumericRemote.key_bottom, True,
self.slow_down)
self.ir_block.value.equal_to(IrNumericRemote.key_ok, True, self.stop)
self.ir_block.value.equal_to(IrNumericRemote.key_hash, True,
self.reverse)
self.ir_block.value.equal_to(IrNumericRemote.key_star, True,
self.change_patrol)
self.counter = 0
Planner.repeat(0.5, self.print_power_info)
PowerMgmt.set_plan(PowerPlan.get_max_performance_plan())
self.current_smoother = SmoothedVariable(
3, SmoothingType.average, self.chassis.power.battery_current_mA)
self.current_smoother.more_than(600, True, self.stop_for_a_while, 1)
self.heart_beat = False
def __init__(self) -> None:
self.logging = Logging("events")
self.display = DisplayBlock()
self.rgb = RgbLedBlock()
self.rgb.set_on()
self.distance_block = DistanceBlock(measurement_period=0.05)
self.smooth_distance = SmoothedVariable(3, SmoothingType.progressive,
self.distance_block.value)
self.short_distance_event = self.smooth_distance.less_than(
self.border_distance, True, self.short_distance)
self.smooth_distance.more_than(self.border_distance, True,
self.long_distance)
self.power_save_state = 0
Planner.repeat(0.5, self.get_distance)
def __init__(self):
self.started = False
self.display = DisplayBlock()
self.logging = Logging("plan")
self.button = ButtonBlock()
self.rgb = RgbLedBlock()
self.led_default()
self.dim_x, self.dim_y = self.display.get_dimensions()
self.center_x = int(self.dim_x / 2)
self.center_y = int(self.dim_y / 2)
self.point = None
self.map = None
self.score = 0
self.wait_for_start()
self.redraw()
def plan():
logging = Logging()
display = DisplayBlock()
dim_x, dim_y = display.get_dimensions()
logging.info("resolution x: %d, y: %d" % (dim_x, dim_y))
display.draw_ellipse(int(dim_x / 2), int(dim_y / 2),
int(dim_x / 2) - 5,
int(dim_y / 2) - 5)
text = "Hallo"
letter_width = 8
letter_height = 8
text_x = int(dim_x / 2) - int(len(text) * letter_width / 2) + 1
text_y = int(dim_y / 2) - int(letter_height / 2) - 1
display.print_text(text_x, text_y, text)
line_y = text_y + letter_height + 2
display.draw_line(text_x, line_y, text_x + len(text) * letter_width - 2,
line_y)
display.showtime()