def Sopas():
sensor = colorx.colorbk(1)
sensor2 = colorx.colorbk(2)
print("start")
time.sleep(1)
sensor.set("black")
sensor2.set("black")
print("Ponte verga")
time.sleep(4)
sensor.set("white")
sensor2.set("white")
a=input()
print("¡INICIA!")
def pollosense(s):
tri = 20
tbi = 20
tgi = 20
sensor = colorx.colorbk(s)
ri = sensor.read("red")
gi = sensor.read("green")
bi = sensor.read("blue")
if (tri < ri and tgi < gi and tbi < bi):
if (100 < ri and 100 < gi and 100 < bi):
print("Techo")
return 5
else:
print("Amarillo no me pongo, Amarillo es mi color")
return 2
elif (tri < ri and tgi > gi and tbi > bi):
print("Rojos Labios Rojos")
return 1
elif (tri > ri and tgi < gi and tbi > bi):
print("ALVerde")
return 2
elif (tri > ri and tgi > gi and tbi > bi):
if (1 > ri and 1 > gi and 1 > bi):
print("Blackie")
return 0
else:
print("ALVerde")
return 2
else:
print("No Sabo... ")
print(tri < ri)
print(tgi < gi)
print(tbi < bi)
return -1
####configuracion de botones y leds
board1 = board.boardbk()
board1.Enable_Interrupt_Button(1, End_All_Callable)
board1.Enable_Button(2)
board1.Enable_Led(1)
board1.Set_Led(1, 0)
board1.Enable_Led(2)
board1.Set_Led(2, 0)
board1.Enable_Led(3)
board1.Set_Led(3, 0)
#########inicializamos los objetos de los sensores#################
sensorD = distance.distancebk(3) ##distance sensor
motorL = motor.motorbk(7) ##Left motor
motorR = motor.motorbk(6) ##Right motor
sensorCL = colorx.colorbk(1) ##Color sensor left
sensorCR = colorx.colorbk(2) ##Color sensor right
powerS = power.powerbk() ##sensor de voltaje y corriente
imu = IMU.IMUbk() ##objeto imu
#####loop infinito
try:
while (1):
print("sensor distancia: {} cm".format(sensorD.read()))
time.sleep(0.01) ##para no saturar
except (KeyboardInterrupt, SystemExit):
pass
import sys
sys.path.append("/home/pi/bmw/libs")
import colorbk as colorx
import time
sensor = colorx.colorbk(1)
print("start")
time.sleep(1)
sensor.set("white")
time.sleep(2)
sensor.set("black")
print("end")
motor2.move(255,232)
motor1.wait()
motor2.wait()
#time.sleep(5)
motor1.move(255,76)
motor2.move(-255,76)
motor1.wait()
motor2.wait()
#time.sleep(2)
motorI = motor.motorbk(7)
motorD = motor.motorbk(6)
motorI.set(-255)
motorD.set(255)
sensorI = colorx.colorbk(1)
sensorD = colorx.colorbk(2)
SI = 0
SD = 0
b=0
x=1
y=1
pos=(x,y)
ultra = distance.distancebk(3)
cruce = 0
umbralDiff = 20 #Umbral que detecta si los sensores ven cosas sitintas. Falta hacerlo dinamico
umbralLight = 70 #Umbral que detecta si es blanco o negro. Falta hacerlo dinamico
import sys
sys.path.append("/home/pi/bmw/libs")
import time as tm
import distancebk as distance
import powerbk as power
import colorbk as color
# Creates sensor objects
ultrasonic_sensor = distance.distancebk(3)
power_sensor = power.powerbk()
left_color_sensor = color.colorbk(2)
right_color_sensor = color.colorbk(1)
def read_ultrasonic():
"""
Reads the ultrasonic sensor using
bmw provided libs.
"""
return ultrasonic_sensor.read()
def read_battery_voltage():
"""
Reads the power sensor voltage value
using bmw provided libs.
"""
return power_sensor.readvoltage()
import sys
import atexit
sys.path.append("/home/pi/bmw/libs")
import motorbk as motor
import time
import io
import time
import picamera
import math
import distancebk as distance
import colorbk as colorx
#################################################
sensor1 = colorx.colorbk(1)
sensor2 = colorx.colorbk(2)
sensor = distance.distancebk(3)
motor1 = motor.motorbk(7) # pin del motor izquierdo
motor2 = motor.motorbk(6) # pin del motor derecho
loc_x_car = 25 # coordenada inicial en y
loc_y_car = 25 # coordenada inicual en x
mapping = 0
box_cord = [0] * 6
color = 0
ppr = 600
radio_rueda = 3
pi = 3.14159
