def rush_ball():
global time_eclipse, rush
car.go()
time.sleep(0.8)
time_eclipse = 0
rush = False
car.brake()
car.remove_infrared_sensor_change(infrare_handler)
def move_around_ball_counterclockwise():
global direction
direction = False
car.rotate_right_90()
car.on_infrared_sensor_change(brake_if_touch_something)
car.go()
time.sleep(0.2)
car.brake()
def push_ball():
def delay_brake_after_touch_ball(status):
if status[1]:
scheduler.schedule('x', (20, car.brake))
car.remove_infrared_sensor_change(delay_brake_after_touch_ball)
car.on_infrared_sensor_change(delay_brake_after_touch_ball)
car.go()
def go_ball(bound):
global rush
radius = max(bound[2], bound[3]) / 2
center_y = bound[1] + bound[3] / 2
bottom = center_y - radius
car.set_left_wheels_speed(10)
car.set_right_wheels_speed(10)
if not car.registered_infrared_sensor_callback(infrare_handler):
car.on_infrared_sensor_change(infrare_handler)
if bottom <= 0:
rush = True
rush_ball()
else:
rush = True
car.go()
def track_detector_callback(status):
global avoid_flag
# plan A
left, middle, right = status
global last_rotate
if track_flag == 1:
if left == 1:
last_rotate = 1
# car.set_global_speed(1)
car.rotate_left()
elif right == 1:
last_rotate = 2
# car.set_global_speed(1)
car.rotate_right()
elif middle == 1:
if last_rotate == 1:
scheduler.schedule('buchang', (0, car.rotate_right),
(5, car.go))
if last_rotate == 2:
scheduler.schedule('buchang', (0, car.rotate_left),
(5, car.go))
last_rotate = 0
car.set_global_speed(10)
car.go()
elif track_flag == 3:
pass
else:
if middle == 1:
scheduler.cancel('avoid_ob')
avoid_flag = 0
change_flag_normal()
recover_wheel_to_normal()
car.rotate_left()
print('refind road')
def load():
global loaded, avoid_flag, track_flag, last_rotate
# car.set_global_speed(5)
avoid_flag = 0
track_flag = 1
last_rotate = 0
if not loaded:
car.on_track_detector_change(track_detector_callback)
# car.on_infrared_sensor_change(simple_avoid_ob)
car.on_ultrasonic_in_range(simple_avoid_ob_from_ultrasonic, 0, 25)
scheduler.start()
loaded = True
def unload():
global loaded
if loaded:
car.remove_track_detector_callback(track_detector_callback)
# car.remove_infrared_sensor_change(simple_avoid_ob)
car.remove_ultrasonic_callback(simple_avoid_ob_from_ultrasonic)
scheduler.stop()
loaded = False
if __name__ == '__main__':
load()
car.go()
scheduler.start()
# scheduler.schedule('stop',(2000,car.brake))
def on_message(self, message):
global car_mode
if message == 'ping':
# Reply with status of sensors
infrared = car._last_infrared_sensor_status
tracks = car._last_track_detector_status
reply = []
reply.append({
'type': 'sensor',
'data': {
'Left Infrared Sensor': infrared[0],
'Middle Infrared Sensor': infrared[1],
'Right Infrared Sensor': infrared[2],
'Left Track Detector': tracks[0],
'Middle Track Detector': tracks[1],
'Right Track Detector': tracks[2]
}
})
while not ws_tasks.empty():
reply.append(ws_tasks.get())
self.write_message(json.dumps(reply))
else:
print("WebSocket on_message(not ping)")
print(message)
message = json.loads(message)
if message['mode'] == 'track':
if car_mode == 'ball':
print('Stop find ball')
if camera is not None:
camera.origin()
print('Start find track')
car_mode = 'track'
car.set_global_speed(10)
find_track_and_avoid.load()
car.go()
elif message['mode'] == 'ball':
if car_mode == 'track':
print('Stop find track')
find_track_and_avoid.unload()
print('Start find ball')
car_mode = 'ball'
car.set_global_speed(10)
if camera is not None:
camera.mark()
ball_utils.load()
elif message['mode'] == 'user':
if car_mode == 'track':
print('Stop find track')
find_track_and_avoid.unload()
elif car_mode == 'ball':
print('Stop find ball')
if camera is not None:
camera.origin()
ball_utils.unload()
car_mode = 'user'
if message['speed'] == 0:
car.brake()
else:
car.set_global_speed(message['speed'])
if message['direction'] == 0:
car.go()
elif message['direction'] == 180:
car.back()
elif message['direction'] == 270:
car.rotate_left()
elif message['direction'] == 90:
car.rotate_right()
else:
print('Invalid mode "{}", ignored.'.format(message['mode']))
