def key_input(event):
counter = 1
offStep = 34
ct.init()
#print 'Key:', event.char
key_press = event.char
sleep_time = 0.030
# Define keys
if key_press.lower() == 'w':
t0 = time.time()
t_end = t0 + running_time
while time.time() < t_end:
ct.init()
if counter % offStep == 0:
ct.turnLeft(sleep_time)
else:
ct.forward(sleep_time)
sys.stdout.write("\rTime elapsed: %.2f" %
round(time.time() - t0, 2))
sys.stdout.flush()
counter = counter + 1
else:
time.sleep(sleep_time)
def driveRoute(actionList):
# Start C script to get MPU6050 running and wait for initialisation
process = subprocess.Popen('../C_GyroReader/mstest')
time.sleep(4)
print(
"------------------------------------------------------------------------"
)
velocity = 20 # cm / sec
sleep_time = 0.030
accel_bias = 0.2
try:
for elem in actionList:
angle = elem[0] # FIRST: ANGLE
pathLen = elem[1] # SECOND: PATH
# no bias if no distance
if pathLen == 0:
accel_bias = 0
# show/start rotating process
print "Rotating " + str(angle) + " deg."
if angle != 0:
rotate(angle, process)
print
print "Rotating finished."
# time = cm / (cm/sec)
runtime = pathLen / velocity
t0 = time.time()
t_end = t0 + runtime + accel_bias # acceleration bias
# counter drift to right
counter = 1
offStep = 34
# show/start driving process
print "Driving " + str(pathLen) + " cm."
while time.time() < t_end:
ctr.init()
if counter % offStep == 0:
ctr.turnLeft(sleep_time)
else:
ctr.forward(sleep_time)
print "Driving done."
finally:
process.kill()
def key_input(event):
ct.init()
#print 'Key:', event.char
key_press = event.char
sleep_time = 0.040
# Define keys
if key_press.lower() == 'w':
ct.forward(sleep_time)
elif key_press.lower() == 's':
ct.backward(sleep_time)
elif key_press.lower() == 'a':
ct.turnLeft(sleep_time)
elif key_press.lower() == 'd':
ct.turnRight(sleep_time)
elif key_press.lower() == 'q':
ct.pivotLeft(sleep_time)
elif key_press.lower() == 'e':
ct.pivotRight(sleep_time)
else:
time.sleep(sleep_time)
def decisions():
avoidMonster = 300
datas = numberToColor()
print(datas)
### BEHIND TO AVOID MONSTER
if (datas[2] < 250 and
datas[2] >= avoidMonster): # 320 > [behind][black] >= (300 or 50)
reset()
time.sleep(
0.2) # to avoid to reset() a lot of times and run "speed bonus"
if (time.time() - timeStart >= timeToAvoidMonster):
avoidMonster = 50
if (datas[2] >= 250): # [behind][black]
if (datas[5] > 0):
energy()
time.sleep(2)
### FRONT
if (datas[3][2] >= 100): # [front][black]
if (datas[0][2] > datas[1][2]): # [left][black] > [right][black]
while (datas[3][2] >= 50): # [front][black] != 50
turnRight()
turnRight()
turnRight()
datas = numberToColor() # recalcul
elif (datas[0][2] < datas[1][2]): # [left][black] < [right][black]
while (datas[3][2] >= 50): # [front][black] != 50
turnLeft()
turnLeft()
turnLeft()
datas = numberToColor() # recalcul
elif (datas[0][2] == datas[1][2]): # [left][black] == [right][black]
if (lastControl != "down"):
while (datas[3][2] >= 50): # [front][black] != 50
pyautogui.keyDown(lastControl)
pyautogui.keyUp(lastControl)
pyautogui.keyDown(lastControl)
pyautogui.keyUp(lastControl)
datas = numberToColor() # recalcul
else:
while (datas[0][2] != datas[1][2]):
turnLeft()
turnLeft()
### LEFT AND RIGHT BLACK
if (datas[0][2] >= avoid): # [left][black]
if (datas[0][2] >= avoid
and datas[3][2] >= 200): # [left][black] and [front][black]
turnRight()
turnRight()
turnRight()
turnRight()
elif (datas[0][2] >= avoid
and datas[1][2] >= 200): # [left][black] and [right][black]
reset()
time.sleep(
0.2
) # to avoid to reset() a lot of times and run "speed bonus"
else:
turnRight()
if (datas[1][2] >= avoid): # [right][black]
if (datas[1][2] >= avoid
and datas[3][2] >= 200): # [right][black] and [front][black]
turnLeft()
turnLeft()
turnLeft()
turnLeft()
elif (datas[1][2] >= avoid
and datas[0][2] >= 200): # [right][black] and [left][black]
reset()
time.sleep(
0.2
) # to avoid to reset() a lot of times and run "speed bonus"
else:
turnLeft()
turnLeft()
### GREEN
if (datas[0][1] >= avoid
and datas[1][1] >= avoid): # [left][green] and # [right][green]
turnLeft()
turnLeft()
turnLeft()
if (datas[0][1] >= avoid): # [left][green]
turnLeft()
if (datas[1][1] >= avoid): # [right][green]
turnRight()
if (datas[3][1] >= avoid): # [front][green]
reset()
if (datas[0][2] >= avoid and datas[1][2] >= avoid and datas[3][1] >=
earn): # [left][black] and # [right][black] and # [front][green]
reset()
time.sleep(
0.2) # to avoid to reset() a lot of times and run "speed bonus"
### COMBO BLACK AND GREEN
if (datas[0][2] >= avoid
and datas[0][1] >= earn): # [left][black] and # [left][green]
turnLeft()
turnLeft()
reset()
if (datas[1][2] >= avoid
and datas[1][1] >= earn): # [right][black] and # [right][green]
turnRight()
turnRight()
reset()
if (datas[0][2] >= avoid
and datas[3][1] >= earn): # [left][black] and # [front][green]
turnRight()
turnRight()
reset()
if (datas[1][2] >= avoid
and datas[3][1] >= earn): # [right][black] and # [front][green]
turnLeft()
turnLeft()
reset()
### SNIPE BLACK AND SAND:
## SAND
if (datas[4][0] >= 50): # [snipe][sand]
if (datas[0][2] > datas[1][2]): # [left][black] > [right][black]
while (datas[4][0] >= 50): # [snipe][sand] != 50
turnRight()
turnRight()
datas = numberToColor() # recalcul
elif (datas[0][2] < datas[1][2]): # [left][black] < [right][black]
while (datas[4][0] >= 50): # [snipe][sand] != 50
turnLeft()
turnLeft()
datas = numberToColor() # recalcul
elif (datas[0][2] == datas[1][2]): # [left][black] == [right][black]
if (lastControl != "down"):
while (datas[4][0] >= 50): # [snipe][sand] != 50
pyautogui.keyDown(lastControl)
pyautogui.keyUp(lastControl)
pyautogui.keyDown(lastControl)
pyautogui.keyUp(lastControl)
datas = numberToColor() # recalcul
else:
while (datas[0][2] != datas[1][2]):
turnLeft()
turnLeft()
if (datas[4][0] >= 50
and datas[3][2] >= avoid): # [snipe][sand] and [front][black]
if (datas[0][2] >= avoid): # [left][black]
turnRight()
turnRight()
time.sleep(0.2)
elif (datas[1][2] >= avoid): # [right][black]
turnLeft()
turnLeft()
time.sleep(0.2)
## BLACK
if (datas[4][1] >= 50): # [snipe][black]
if (datas[0][2] > datas[1][2]): # [left][black] > [right][black]
while (datas[4][1] >= 50): # [snipe][black] != 50
turnRight()
turnRight()
datas = numberToColor() # recalcul
elif (datas[0][2] < datas[1][2]): # [left][black] < [right][black]
while (datas[4][1] >= 50): # [snipe][black] != 50
turnLeft()
turnLeft()
datas = numberToColor() # recalcul
elif (datas[0][2] == datas[1][2]): # [left][black] == [right][black]
if (lastControl != "down"):
while (datas[4][1] >= 50): # [snipe][black] != 50
pyautogui.keyDown(lastControl)
pyautogui.keyUp(lastControl)
pyautogui.keyDown(lastControl)
pyautogui.keyUp(lastControl)
datas = numberToColor() # recalcul
else:
while (datas[0][2] != datas[1][2]):
turnLeft()
turnLeft()
if (datas[4][1] >= avoid
and datas[3][2] >= 100): # [snipe][black] and [front][black]
if (datas[0][2] >= avoid): # [left][black]
turnRight()
turnRight()
time.sleep(0.2)
elif (datas[1][2] >= avoid): # [right][black]
turnLeft()
turnLeft()
time.sleep(0.2)