class Main:
drive_proc = True
detect_boundary = True
detecting = True
detect_cube_found = False
continue_driving = True
def __init__(self, color):
self.random = Random()
self.drive = Drive()
self.grab = Grab()
self.dd = DistanceDetector()
self.cd = ColorDetector(color)
def turn_ninety_degrees(self):
self.drive.turn(Drive.DIRECTION_LEFT, 88)
def detect_outer_boundary(self):
while self.detecting:
while self.detect_boundary:
detect = False
if not self.detect_cube_found:
detect = self.cd.detect_boundary()
if detect:
break
time.sleep(0.01)
self.continue_driving = False
self.drive.stop()
time.sleep(1)
self.drive.reverse(70)
time.sleep(2)
self.drive.turn(Drive.DIRECTION_LEFT, self.random.randint(60, 180))
self.drive.drive_continuous()
self.continue_driving = True
# def drive_process(self):
# self.drive.drive_forward(275)
# time.sleep(1)
# self.turn_ninety_degrees()
# for i in range(250, 0, -20):
# if not self.drive_proc:
# break
# for j in range(1, 4):
# time.sleep(0.5)
# if not self.drive_proc:
# break
# self.drive.drive_forward(i)
# time.sleep(1)
# if not self.drive_proc:
# break
# self.turn_ninety_degrees()
# self.drive.stop()
def proc(self):
self.drive.drive_continuous()
self.dd.detect()
self.detect_cube_found = True
self.drive.stop()
time.sleep(0.5)
self.grab.lift()
time.sleep(1)
detected = False
attempts = 0
max_attempts = 6
while not detected:
detected = self.cd.detect()
if not self.continue_driving:
time.sleep(0.02)
detected = False
if detected:
break
else:
attempts += 1
if attempts >= max_attempts:
self.drive.reverse(20)
self.grab.sink()
time.sleep(2)
self.drive.turn(Drive.DIRECTION_RIGHT, 80)
self.detect_cube_found = False
return
self.drive.turn(Drive.DIRECTION_LEFT, 5)
time.sleep(0.5)
self.drive.reverse(5)
time.sleep(1)
self.grab.sink()
time.sleep(1)
self.drive.turn(Drive.DIRECTION_RIGHT, attempts * 5)
time.sleep(1)
self.drive.drive_continuous()
self.continue_driving = False
self.detect_cube_found = False
