def __new__(cls, *args):
if RobotInstance.getRobot() == None:
r = MyRobot(*args)
RobotInstance.setRobot(r)
return r
else:
return RobotInstance.getRobot()
def __new__(cls, ipAddress="", buttonEvent=None):
global _isBtnHit
if RobotInstance.getRobot() == None:
r = MyRobot(ipAddress, buttonEvent)
r.isEscapeHit() # Dummy to clear button hit flag
RobotInstance.setRobot(r)
for sensor in RobotInstance._sensorsToRegister:
r.registerSensor(sensor)
return r
else:
r = RobotInstance.getRobot()
r.isEscapeHit() # Dummy to clear button hit flag
return RobotInstance.getRobot()
def __new__(cls, ipAddress="", buttonEvent=None):
global _isBtnHit
if RobotInstance.getRobot() == None:
r = MyRobot(ipAddress, buttonEvent)
r.isEscapeHit() # Dummy to clear button hit flag
RobotInstance.setRobot(r)
for sensor in RobotInstance._sensorsToRegister:
r.registerSensor(sensor)
return r
else:
r = RobotInstance.getRobot()
r.isEscapeHit() # Dummy to clear button hit flag
return RobotInstance.getRobot()
def __init__(self, id, **kwargs):
'''
Creates a light sensor instance with given id.
IDs: 0: front left, 1: front right, 2: rear left, 3: rear right
The following global constants are defined:
LS_FRONT_LEFT = 0, LS_FRONT_RIGHT = 1, LS_REAR_LEFT = 2, LS_REAR_RIGHT = 3.
@param id: the LightSensor identifier
'''
self.id = id
self.sensorState = "DARK"
self.sensorType = "LightSensor"
self.triggerLevel = 500
self.brightCallback = None
self.darkCallback = None
self.isRegistered = False
for key in kwargs:
if key == "bright":
self.brightCallback = kwargs[key]
elif key == "dark":
self.darkCallback = kwargs[key]
robot = RobotInstance.getRobot()
if robot == None: # deferred registering, because Robot not yet created
RobotInstance._sensorsToRegister.append(self)
else:
if self.brightCallback != None or self.darkCallback != None:
robot.registerSensor(self)
Tools.debug("LightSensor instance with ID " + str(id) + " created")
def __init__(self, id, **kwargs):
'''
Creates a light sensor instance with given id.
IDs: 0: front left, 1: front right, 2: rear left, 3: rear right
The following global constants are defined:
LS_FRONT_LEFT = 0, LS_FRONT_RIGHT = 1, LS_REAR_LEFT = 2, LS_REAR_RIGHT = 3.
@param id: the LightSensor identifier
'''
self.id = id
self.sensorState = "DARK"
self.sensorType = "LightSensor"
self.triggerLevel = 500
self.brightCallback = None
self.darkCallback = None
self.isRegistered = False
for key in kwargs:
if key == "bright":
self.brightCallback = kwargs[key]
elif key == "dark":
self.darkCallback = kwargs[key]
robot = RobotInstance.getRobot()
if robot == None: # deferred registering, because Robot not yet created
RobotInstance._sensorsToRegister.append(self)
else:
if self.brightCallback != None or self.darkCallback != None:
robot.registerSensor(self)
Tools.debug("LightSensor instance with ID " + str(id) + " created")
def __init__(self, id, **kwargs):
'''
Creates an infrared sensor at given port.
For the Pi2Go the following infrared sensors are used:
id = 0: front center; id = 1: front left; id = 2: front right;
id = 3: line left; id = 4: line right. The following global constants are defined:
IR_CENTER = 0, IR_LEFT = 1, IR_RIGHT = 2, IR_LINE_LEFT = 3, IR_LINE_RIGHT = 4
@param id: sensor identifier
'''
self.id = id
self.sensorState = "PASSIVATED"
self.sensorType = "InfraredSensor"
self.activateCallback = None
self.passivateCallback = None
for key in kwargs:
if key == "activated":
self.activateCallback = kwargs[key]
elif key == "passivated":
self.passivateCallback = kwargs[key]
robot = RobotInstance.getRobot()
if robot == None: # deferred registering, because Robot not yet created
RobotInstance._sensorsToRegister.append(self)
else:
if self.activateCallback != None or self.passivateCallback != None:
robot.registerSensor(self)
Tools.debug("InfraredSensor instance with ID " + str(id) + " created")
def __init__(self, pin=40):
self._checkRobot()
self.robot = RobotInstance.getRobot()
self._pin = pin
self._beeperThread = None
Tools.debug("Beeper instance created with beeper at pin: " + str(pin))
GPIO.setup(pin, GPIO.OUT)
self.turnOff()
def _readADC(self, channel):
robot = RobotInstance.getRobot()
try:
robot._bus.write_byte(SharedConstants.ADC_I2C_ADDRESS, channel)
robot._bus.read_byte(SharedConstants.ADC_I2C_ADDRESS) # ignore first byte
data = robot._bus.read_byte(SharedConstants.ADC_I2C_ADDRESS)
except:
raise Exception("Exception while accessing PCF8591P I2C Expander. channel: " + str(channel))
data = 0
return data
def __init__(self, id):
'''
Creates a Led instance with given ID.
IDs of the double LEDs: 0: front, 1: left side , 2: rear, 3: right side.
The following global constants are defined:
LED_FRONT = 0, LED_LEFT = 1, LED_REAR = 2, RED_RIGHT = 3.
@param id: the LED identifier
'''
self.id = id
self.robot = RobotInstance.getRobot()
self._blinkerThread = None
Tools.debug("Led instance with ID " + str(id) + " created")
def _readADC(self, channel):
robot = RobotInstance.getRobot()
try:
robot._bus.write_byte(SharedConstants.ADC_I2C_ADDRESS, channel)
robot._bus.read_byte(
SharedConstants.ADC_I2C_ADDRESS) # ignore first byte
data = robot._bus.read_byte(SharedConstants.ADC_I2C_ADDRESS)
except:
raise Exception(
"Exception while accessing PCF8591P I2C Expander. channel: " +
str(channel))
data = 0
return data
def getValue(self):
'''
Returns the current intensity value (0..255).
@return: the measured light intensity
@rtype: int
'''
self._checkRobot()
nb = self.id
if nb == 0:
nb = 1
elif nb == 1:
nb = 0
robot = RobotInstance.getRobot()
return robot.analogExtender.readADC(nb)
def __init__(self, id, home, inc):
'''
Creates a servo motor instance and sets it at home position. For most servos:
home = 300, inc = 2
@param id: the id of the motor (0..3)
@param home: the PWM duty cycle for the home position (0..4095)
@param inc: the increment factor (inc_duty/inc_position)
'''
self.id = id
self.home = home
self.inc = inc
self._checkRobot()
self.robot = RobotInstance.getRobot()
self.robot.pwm.setDuty(SharedConstants.SERVO_0 + self.id, home)
Tools.debug("ServoMotor instance created")
def getValue(self):
'''
Returns the current intensity value (0..1000).
@return: the measured light intensity
@rtype: int
'''
self._checkRobot()
Tools.delay(1)
nb = self.id
if nb == 0:
nb = 1
elif nb == 1:
nb = 0
robot = RobotInstance.getRobot()
return int(self._readADC(nb) / 255.0 * 1000 + 0.5)
def getValue(self):
'''
Returns the current intensity value (0..1000).
@return: the measured light intensity
@rtype: int
'''
self._checkRobot()
Tools.delay(1)
nb = self.id
if nb == 0:
nb = 1
elif nb == 1:
nb = 0
robot = RobotInstance.getRobot()
return int(self._readADC(nb) / 255.0 * 1000 + 0.5)
def __init__(self, id, home, inc):
'''
Creates a servo motor instance and sets it at home position. For most servos:
home = 300, inc = 2
@param id: the id of the motor (0..3)
@param home: the PWM duty cycle for the home position (0..4095)
@param inc: the increment factor (inc_duty/inc_position)
'''
self.id = id
self.home = home
self.inc = inc
self._checkRobot()
self.robot = RobotInstance.getRobot()
self.robot.pwm.setDuty(SharedConstants.SERVO_0 + self.id, home)
Tools.debug("ServoMotor instance created")
def __init__(self, **kwargs):
'''
Creates a sensor instance.
'''
self.sensorState = "FAR"
self.sensorType = "UltrasonicSensor"
self.triggerLevel = 20
self.nearCallback = None
self.farCallback = None
for key in kwargs:
if key == "near":
self.nearCallback = kwargs[key]
elif key == "far":
self.farCallback = kwargs[key]
robot = RobotInstance.getRobot()
if robot == None: # deferred registering, because Robot not yet created
RobotInstance._sensorsToRegister.append(self)
else:
if self.nearCallback != None or self.farCallback != None:
robot.registerSensor(self)
Tools.debug("UltrasonicSensor instance created")
def __init__(self, **kwargs):
'''
Creates a sensor instance.
'''
self.sensorState = "FAR"
self.sensorType = "UltrasonicSensor"
self.triggerLevel = 20
self.nearCallback = None
self.farCallback = None
for key in kwargs:
if key == "near":
self.nearCallback = kwargs[key]
elif key == "far":
self.farCallback = kwargs[key]
robot = RobotInstance.getRobot()
if robot == None: # deferred registering, because Robot not yet created
RobotInstance._sensorsToRegister.append(self)
else:
if self.nearCallback != None or self.farCallback != None:
robot.registerSensor(self)
Tools.debug("UltrasonicSensor instance created")
def __init__(self):
'''
Creates a display instance either from class Display4tronix or DisplayDidel.
Because the 4tronix display is multiplexed (one digit shown after
the other, a display thread is used to display all 4 digits in a rapid succession.
'''
self._checkRobot()
robot = RobotInstance.getRobot()
self.text = ""
self.pos = 0
self.dp = [0, 0, 0, 0]
if robot.displayType == "4tronix":
Display._myInstance = Disp4tronix()
self.available = True
elif robot.displayType == "didel":
Display._myInstance = DgTell()
self.available = True
elif robot.displayType == "didel1":
Display._myInstance = DgTell1()
self.available = True
else:
self.available = False
def __init__(self):
'''
Creates a display instance either from class Display4tronix or DisplayDidel.
Because the 4tronix display is multiplexed (one digit shown after
the other, a display thread is used to display all 4 digits in a rapid succession.
'''
self._checkRobot()
robot = RobotInstance.getRobot()
self.text = ""
self.pos = 0
self.dp = [0, 0, 0, 0]
if robot.displayType == "4tronix":
Display._myInstance = Disp4tronix()
self.available = True
elif robot.displayType == "didel":
Display._myInstance = DgTell()
self.available = True
elif robot.displayType == "didel1":
Display._myInstance = DgTell1()
self.available = True
else:
self.available = False
def setColor(self, *args):
'''
Sets the RGB color value of the two LEDs with current ID.
@param args list of [red, green, blue] RGB color components 0..255
or three color integers 0..255
'''
self._checkRobot()
if len(args) == 1 and type(args[0]) == list:
red = int(args[0][0] / 255.0 * 4095)
green = int(args[0][1] / 255.0 * 4095)
blue = int(args[0][2] / 255.0 * 4095)
elif len(args) == 3:
red = int(args[0] / 255.0 * 4095)
green = int(args[1] / 255.0 * 4095)
blue = int(args[2] / 255.0 * 4095)
else:
raise ValueError("Illegal param in setColor()")
id = (self.id + 3) % 4
robot = RobotInstance.getRobot()
robot.ledPWM.setPWM(3 * id, 0, blue)
robot.ledPWM.setPWM(3 * id + 1, 0, green)
robot.ledPWM.setPWM(3 * id + 2, 0, red)
def _checkRobot(self):
if RobotInstance.getRobot() == None:
raise Exception("Create Robot instance first")
def _checkRobot(self):
if RobotInstance.getRobot() == None:
raise Exception("Create Robot instance first")
def isRightHit():
robot = RobotInstance.getRobot()
if robot != None:
return robot.isRightHit()
return False
def isEscapeHit():
robot = RobotInstance.getRobot()
if robot != None:
return robot.isEscapeHit()
return False
def isButtonHit():
robot = RobotInstance.getRobot()
if robot != None:
return robot.isButtonHit()
return False
