def evade_rev_1(drive_time, drive_burst, mode):
print(
"evade.evade_rev_1 > Too close!\nevade.evade_rev_1 > Performing 1st order evasive manouver\n"
)
drive_iterate = int(round(drive_time / drive_burst))
##Bring the return of the function optimal_direction in from optimal_direction.py
opt_dir = optimal_direction.optimal_direction()
##Check the front distance
front_dist = sensors.front_distance()
if front_dist > 15 and opt_dir == 'left':
print(
"evade.evade_rev_1 > I will proceed forward and left with caution"
)
##Repeat the steps below drive_iterate times
for y in range(drive_iterate):
##Collision collision_avoidance
check_bk_2(drive_time, drive_burst, mode)
##Drive left and forward for drive_burst seconds
driveme_tank.turn_left_fwd(drive_burst, mode)
elif front_dist > 15 and opt_dir == 'right':
print(
"evade.evade_rev_1 > I will proceed forward and right with caution"
)
##Repeat the steps below drive_iterate times
for y in range(drive_iterate):
##Collision collision_avoidance
check_bk_2(drive_time, drive_burst, mode)
##Drive left and forward for drive_burst seconds
driveme_tank.turn_right_fwd(drive_burst, mode)
else:
stuck_help(
"evade.evade_rev_1 > Boxed in on 3-sides\nevade.evade_rev_1 > I don\'t know how to solve this problem"
)
def check_front():
##Define the variable f_dist as the distance from the front sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, print "Too close, and the distance", and continue
if f_dist < 15:
driveme.init()
driveme.reverse(2)
def check_fr_2(drive_time, drive_burst, mode):
print("evade.check_fr_2 >Second check of the front sensor:\n")
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, check for the optimal direction and take evasive action
if f_dist < 15:
evade_fwd_2(drive_time, drive_burst, mode)
else:
print("evade.check_fr_2 > All clear in front!")
def check_fr_1(drive_time, drive_burst, mode):
print("evade.check_fr_1 > First check of the front sensor:\n")
##Define the variable f_dist as the distance from the front sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, check for the optimal direction and take evasive action
if f_dist < 15:
evade_fwd_1(drive_time, drive_burst, mode)
else:
print("evade.check_fr_1 > All clear in front!")
def check_front():
##Define the variable f_dist as the distance from the front sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, print "Too close, and the distance", and continue
if f_dist < 15:
print('Too close,', f_dist)
##Otherwise, print 'Front okay' and continue
else:
print('Front okay,', f_dist)
def check_fr_4(drive_time, drive_burst, mode):
print("evade.check_fr_4 > Fourth and final check of the front sensor:\n")
##Define the variable f_dist as the distance from the front sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, check for the optimal direction and take evasive action
if f_dist < 15:
stuck_help(
'evade.check_fr_4 > Still too close at front on 4th check')
else:
print("evade.check_fr_4 > All clear in front!")
def check_bk_2(drive_time, drive_burst, mode):
print(
"evade.check_bk_2 > I must find a way forward - checking the front:\n"
)
##Define the variable r_dist as the distance from the rear sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, check for the optimal direction and take evasive action
if f_dist < 15:
evade_rev_2(drive_time, drive_burst, mode)
else:
print("evade.check_bk_2 > All clear in front!")
def check_bk_3(drive_time, drive_burst, mode):
print(
"evade.check_bk_3 > Now check the front sensor again - is it safe?\n"
)
##Define the variable r_dist as the distance from the rear sensor to the nearest object
f_dist = sensors.front_distance()
##Instruct action: if an object is closer than 15 cm away, check for the optimal direction and take evasive action
if f_dist < 15:
stuck_help(
"evade.check_bk_3 > Ooops!\nevade.check_bk_2 > I don\'t know how to solve this problem"
)
else:
print("evade.check_bk_3 > All clear in front!")
##2. Call the distance function from the sensors local library to prove it is functioning correctly.
## ---sensors.distance() --- Return the distance from the sensor to the nearest object
## ---driveme.init() --- Initialise GPIO pins to drive as output
## ---driveme.forward(tf) --- Drive Foward
## ---driveme.reverse(tf) --- Drive in Reverse
## ---driveme.turn_left_fwd(tf) --- Turn left while moving forward
## ---driveme.turn_right_fwd(tf) --- Turn right while moving forward
## ---driveme.turn_left_rev(tf) --- Turn left while moving backward
## ---driveme.turn_right_rev(tf) --- Turn right while moving backward
## ---driveme.pivot_right(tf) --- Pivot clockwise (defined as from a 'birds eye view' with 12o'clock at the front of the vehicle (Pivot right)
## ---driveme.pivot_left(tf) --- Pivot counter clockwise (Pivot left)
#Assumptions: see driveme.py
##Call the function distance from the local python script sensors.py
sensors.front_distance()
##Define the function autonomy
def autonomy():
##Set the time to run (for actions other than forward)
tf = 1
##Introduce a variable, x, that will take on a sudorandom value to drive the vechicle in explore mode. x will take on values from 1-7
x = random.randrange(0, 8)
##Set actions for the vechicle based on the value of x
##Drive forward for 5 seconds if x = 0
if x == 0:
##Initialise GPIO pins (based on instructions defined in driveme.py)
driveme.init()
##Drive forward for 5 seconds
