def main(dalek_settings, dalek_sounds):
# pass
challenge = Challenge(dalek_settings, dalek_sounds)
challenge.start()
time.sleep(2)
# challenge.button_circle_pressed()
challenge.stop_running()
# challenge.join() # wait for thread to finish.
debug.print_to_all_devices("\nFINISHED")
drive.cleanup()
def destroy(): # Shutdown GPIO and Cleanup modules
# Allow access to sound volume
global dalek_sounds
debug.print_to_all_devices("\n... Shutting Down...\n", "Ext")
dalek_sounds.play_sound("Grow_stronger")
drive.stop() # Make sure Bot is not moving when program exits
drive.cleanup() # Shutdown all motor control
# time.sleep(2)
# cv2.destroyAllWindows() # Shutdown any open windows
# time.sleep(1.5)
debug.destroy() # Clear Scroll pHat
GPIO.cleanup() # Release GPIO resource
def straight_line_speed_test(dalek_settings, dalek_sounds):
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
start_button = False
def button_start_pressed():
print("from straighe line challenge")
while dalek_settings.drive:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(dalek_settings.max_speed)
# detects we have finished the challenge.
if arduino_sensor_data.front_distance <= 10:
drive.cleanup()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
arduino_sensor_data.frontPing))
arduino_sensor_data.running = False
break
if arduino_sensor_data.left_ping <= 5:
debug.print_to_all_devices("turnForwardRight", "TrR")
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
if arduino_sensor_data.right_distance <= 5:
debug.print_to_all_devices("turnForwardLeft", "TrL")
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
arduino_sensor_data.join() # wait for process to finish
debug.print_to_all_devices("Done...")
def main():
'''
This is only run if you run the file directly
'''
GPIO.setmode(
GPIO.BOARD) # Set the GPIO pins as numbering - Also set in drive.py
GPIO.setwarnings(False)
spi.init()
dalek_settings = settings.Settings()
dalek_settings.slow_mode()
drive.init()
dalek_sounds = sound_player.Mp3Player(True) # initialize the sound player
debug.debug_on = True
debug.print_to_all_devices("working", "OK")
try:
straight_line_speed_test(dalek_settings, dalek_sounds)
time.sleep(1)
except:
print("!!! error")
drive.cleanup()
def start(dalek_settings):
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
while True:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(100)
# detects we have finished the challenge.
if arduino_sensor_data.front_distance <= 10:
drive.cleanup()
print("Center Distance:{}cm Run Finished".format(
arduino_sensor_data.front_distance))
arduino_sensor_data.running = False
break
if arduino_sensor_data.left_distance <= 5:
print("turnForwardRight", "TrR")
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
if arduino_sensor_data.right_distance <= 5:
print("turnForwardLeft", "TrL")
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
time.sleep(.1)
drive.forward(dalek_settings.max_speed)
# wait for process to finish
print("Done...")
def dispose():
drive.cleanup()
def print_compass():
print("L F R Rear {} {} {} {}".format(
compass_positions['left'],
compass_positions['forward'],
compass_positions['right'],
compass_positions['backwards']))
# def turn_left():
# turnspeed = 50
# while DalekSensors.compass > (145+5):
# drive.spinLeft(turnspeed)
# time.sleep(.2)
# print(DalekSensors.compass)
# drive.stop()
# print("Stop")
# time.sleep(1)
# print(DalekSensors.compass)
# DalekSensors.stop_running()
if __name__ == "__main__":
main()
drive.stop()
head_controller.leds_change_color(head_controller.leds_color['off'])
drive.cleanup()
DalekSensors.stop_running()
def straight_line_speed_test_1(dalek_settings, dalek_sounds):
'''
finds the middle of the area and drives down it.
'''
arduino_sensor_data = spi.SensorData()
arduino_sensor_data.start(
) # starts the new process and runs in the background
time.sleep(0.2)
turning_left = False
turning_right = False
previous_center_value = arduino_sensor_data.left_ping - arduino_sensor_data.right_distance
counter = 0
while dalek_settings.drive:
'''
TODO:
The dalek_settings.drive can be turned off with the controller
'''
drive.forward(dalek_settings.max_speed)
time.sleep(.5)
# detects we have finished the challenge.
if arduino_sensor_data.frontPing <= 10:
drive.cleanup()
debug.print_to_all_devices(
"Center Distance:{}cm Run Finished".format(
arduino_sensor_data.frontPing))
arduino_sensor_data.running = False
break
center_value = arduino_sensor_data.left_ping - arduino_sensor_data.right_distance
print(center_value)
# if (center_value - 1) <= previous_center_value <= (center_value + 1) :
if previous_center_value == center_value:
# use the if between to stop hunting, a few centermeters either way
# should be fine.
# we are driving parallel to walls
# we should be able to drive forward while moving into the middle.
print("parallel to walls {} {}".format(previous_center_value,
center_value))
else:
print("Not parallel to walls {} {}".format(previous_center_value,
center_value))
counter += 1
if counter == 10:
previous_center_value = center_value
counter = 0
# print(counter)
if (center_value < -2) and turning_right == False:
turning_right = True
turning_left = False
drive.turnForwardRight(dalek_settings.outer_turn_speed,
dalek_settings.inner_turn_speed)
debug.print_to_all_devices("turnForwardRight", "TrR")
time.sleep(.05)
# drive.forward(dalek_settings.max_speed)
# time.sleep(.05)
if (center_value > 2) and turning_left == False:
turning_left = True
turning_right = False
drive.turnForwardLeft(dalek_settings.inner_turn_speed,
dalek_settings.outer_turn_speed)
debug.print_to_all_devices("turnForwardLeft", "TrL")
time.sleep(.05)
# drive.forward(dalek_settings.max_speed)
# time.sleep(.05)
# if -2 <= center_value <= 2:
# # if it is between these values
# # straiten up the bot
# if turning_left
arduino_sensor_data.join() # wait for process to finish
debug.print_to_all_devices("Done...")
def main(dalek_settings, dalek_sounds):
init()
use(dalek_settings, dalek_sounds)
drive.cleanup()
def main():
init()
start()
drive.cleanup()