def main():
try:
if ir_status:
print 'Patch found'
return 'break' #breaks out of the function
elif ds_status:
print 'got a wall bro!'
Right90()
ForwardStep() #one full rotation only
Right90()
print 'Turned around'
return False
else:
print 'Taking ForwardStep()'
ForwardStep()
return False
except KeyboardInterrupt:
print "closing sockets"
main_socket.close()
ir_conn.close()
ds_conn.close()
print "closed"
return 'break'
def main(): try: if ldr_parent_conn.recv(): print 'Patch found' return None #breaks out of the function elif ds_parent_conn.recv(): #got a wall bro! Right90() ForwardStep() #one full rotation only Right90() #Turned around main() #repeat else: ForwardStep() main() #RECURSION IT IS!!!!#FFFFFF except KeyboardInterrupt: pass finally: print 'cleaning up' GPIO.cleanup()
def main(): flag = True forwardCount = 0 global block, patch_status while True: try: if patch_status: print 'other bot has found the patch, calling localisationFucntion()' localisationFuction() print 'work done breaking the main function!' break if ir_status: print 'Patch found' patchStatusUpdate() print 'breaking the main function' break elif ds_status: print 'got a wall bro!' if flag: Left90() if patch_status: localisationFuction() ForwardStep(3) #one full rotation only block += 1 #forward += 3 Left90() flag = False print 'left turn' else: Right90() if patch_status: localisationFuction() ForwardStep(3) #one full rotation only block += 1 #forward += 3 Right90() flag = True print 'right turn ' else: print 'Taking ForwardStep()' forwardCount +=1 if forwardCount == 3: block += 1 forwardCount = 0 ForwardStep(1) except KeyboardInterrupt: print "closing sockets" main_socket.close() sensor_conn.close() print "closed" break
def main():
try:
ldr_reading = rc_time(ldrPin)
conn.send(['ldr', ldr_reading])
if ldr_reading > ldr_threshold:
print 'Patch found'
conn.send(['patch_found'])
break
else:
ds_reading = Distance() #to be done
conn.send(['ds', ds_reading])
if ds_reading < ds_threshold:
#got a wall bro!
Right90()
ForwardStep() #one full rotation only
Right90()
#Turned around
main() #repeat
else:
ForwardStep()
main() #RECURSION IT IS!!!!#FFFFFF
except KeyboardInterrupt:
pass
finally:
print 'cleaning up'
GPIO.cleanup()
def localisationFuction(): print "localisation started!!!!" url = server_address+"blockCheck/%s/" c1 = get(url %1) c2 = get(url %2) x1 = int(c1.text[1]) x2 = int(c2.text[4]) y1 = int(c1.text[1]) y2 = int(c1.text[4]) #got the coordinates of both the bots #now check the orientation if y1%2 == 0: moving = "up" else: moving = "down" print "moving: ", moving if moving == "up": m = (3/20) * abs(y2-y1) n = (3/20) * abs(x1-x2) print "x = ",n,"y = ", m if y2<y1: print "y2<y1" if x2<x1: # move x1-x2 up ForwardStep(n) print 'localisation: moving forward' elif x2>x1: #move x2-x1 down BackwardStep(n) print 'localisation: moving backward' Left90() ForwardStep(m) print 'localisation: moving forward' #move y1-y2 left if y2>y1: print "y2>y1" if x2<x1: #move x1-x2 up ForwardStep(n) print 'localisation: moving forward' elif x2>x1: #move x2-x1 down BackwardStep(n) print 'localisation: moving backward' Right90() ForwardStep(m) print 'localisation: moving forward' #move y2-y1 right elif moving == "down": m = (3/20) * abs(y2-y1) n = (3/20) * abs(x1-x2) if y2<y1: if x2<x1: # move x1-x2 up BackwardStep(n) elif x2>x1: #move x2-x1 down ForwardStep(n) Right90() ForwardStep(m) #move y1-y2 left if y2>y1: if x2<x1: #move x1-x2 down BackwardStep(n) elif x2>x1: #move x2-x1 up ForwardStep(n) Left90() ForwardStep(m)
from functions import irMeasure, ForwardStep, BackwardStep, Right90, Left90, distanceMeasure
from requests import get
import RPi.GPIO as GPIO
server_address = 'http://192.168.0.5/'
import time
#Right90()
#print distanceMeasure()
# time.sleep(1)
while True:
print irMeasure()
time.sleep(1)
ForwardStep(3)