params.addParam('DIST_PER_MOVE', 10.0, 'Centimeters in 1 move unit') params.addParam('DEG_PER_TURN', 2*math.pi, 'Radians in 1 turn unit') params.addParam('MOTOR_DEFAULT_PWM_DC', 30, 'Default duty cycle for the motor PWM (0 - 100)') params.addParam('MOTOR_DEFAULT_PWM_FREQ', 357, 'Default frequency for the motor PWM') # Create Sensor object sensors = Sensor() # Add sensors to sensor dictionary # 'Name', number, weight (higher is more important), location sensors.addSensor('HC-SR04', 1, 2, [0, 8.5, 0, math.pi / 2]) sensors.addSensor('HC-SR04', 2, 2, [7.36, 4.25, 0, math.pi / 6]) sensors.addSensor('HC-SR04', 3, 2, [7.36, -4.25, 0, -math.pi / 6]) sensors.addSensor('HC-SR04', 4, 2, [0, -8.5, 0, -math.pi / 2]) sensors.addSensor('HC-SR04', 5, 2, [-7.36, -4.25, 0, -5 * (math.pi / 6)]) sensors.addSensor('HC-SR04', 6, 2, [-7.36, 4.25, 0, 5 * (math.pi / 6)]) sensors.addSensor('TSL2561', 1, 1, [7.36, 4.25, 0, math.pi / 6]) sensors.addSensor('TSL2561', 2, 1, [0, -8.5, 0, -math.pi / 2]) sensors.addSensor('TSL2561', 3, 1, [-7.36, 4.25, 0, 5 * (math.pi / 6)]) # Create PinMaster object pins = PinMaster() # Add pins to pin dictionary pins.addPin('MOTOR1A', 18) # 16) pins.addPin('MOTOR1B', 23) # 20) # Right Motor pins.addPin('MOTOR1E', 24) # 21) pins.addPin('MOTOR2A', 17) # 13) # Left Motor pins.addPin('MOTOR2B', 27) # 19) pins.addPin('MOTOR2E', 22) # 26) pins.addPin('BUZZER', 4) #25) # Piezo buzzer
# Create Sensor object sensors = Sensor() # Add sensors to sensor dictionary sensors.addSensor('HC-SR04', 1, 10, [0, 8.5, 0, math.pi / 2]) sensors.addSensor('HC-SR04', 2, 10, [7.36, 4.25, 0, math.pi / 6]) sensors.addSensor('HC-SR04', 3, 10, [7.36, -4.25, 0, -math.pi / 6]) sensors.addSensor('HC-SR04', 4, 10, [0, -8.5, 0, -math.pi / 2]) sensors.addSensor('HC-SR04', 5, 10, [-7.36, -4.25, 0, -5 * (math.pi / 6)]) sensors.addSensor('HC-SR04', 6, 10, [-7.36, 4.25, 0, 5 * (math.pi / 6)]) sensors.addSensor('TSL2561', 1, 5, [7.36, 4.25, 0, math.pi / 6]) sensors.addSensor('TSL2561', 2, 5, [0, -8.5, 0, -math.pi / 2]) sensors.addSensor('TSL2561', 3, 5, [-7.36, 4.25, 0, 5 * (math.pi / 6)]) # Create PinMaster object pins = PinMaster() # Add pins to pin dictionary pins.addPin('MOTOR1A', 18) # 16) pins.addPin('MOTOR1B', 23) # 20) # Right Motor pins.addPin('MOTOR1E', 24) # 21) pins.addPin('MOTOR2A', 17) # 13) # Left Motor pins.addPin('MOTOR2B', 27) # 19) pins.addPin('MOTOR2E', 22) # 26) pins.addPin('SERVO1', 5) # Horizontal (Side to Side) servo pins.addPin('SERVO2', 13) # Vertical (Up and Down) servo pins.addPin('BUZZER', 4) #25) # Piezo buzzer # # Create Map object # mapa = Mapa()