def setup(self):
self.LEFT_TOWER = 85
self.RIGHT_TOWER = 24
self.CENTER = 53
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
self.servo = Servo(self.tamp, 23) #pin TBD
self.red_detected = False
self.green_detected = False
self.servo.write(self.CENTER)
self.counter = 0
self.servo_bottom = Servo(self.tamp,22)
self.servo_bottom.write(34)
self.motor = Motor(self.tamp, 24, 25)
self.motor.write(True, 250)
self.jammed = False
self.conveyor_encoder = Encoder(self.tamp, *self.pins, continuous=True)
self.prev_encoder_value = 0
self.conveyor_encoder.update()
self.timer = Timer()
self.sorter_delta = 50
def __init__(self, tamp):
self.r2g = 0
self.g2r = 0
self.tamp = tamp
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
def setup(self):
timer = Timer()
timeoutTimer = Timer()
leftMotor = Motor(self.tamp, LEFT_DRIVE_CONTROLLER_DIRECTION,
LEFT_DRIVE_CONTROLLER_PWM)
rightMotor = Motor(self.tamp, RIGHT_DRIVE_CONTROLLER_DIRECTION,
RIGHT_DRIVE_CONTROLLER_PWM)
intakeMotor = Motor(self.tamp, HUGS_MOTOR_CONTROLLER_DIRECTION,
HUGS_MOTOR_CONTROLLER_PWM)
color = Color(self.tamp)
self.check = CheckModule(timer, timeoutTimer, leftMotor, rightMotor,
intakeMotor, color)
self.check.start()
def setup(self):
self.LEFT_TOWER = 83.4
self.RIGHT_TOWER = 27
self.CENTER = 54
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
self.servo = Servo(self.tamp, 23) #pin TBD
self.red_detected = False
self.green_detected = False
self.servo.write(self.CENTER)
self.counter = 0
self.timer = Timer()
def setup(self):
self.screen = pygame.display.set_mode((300, 300))
print 'Made it'
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
self.timer = Timer()
self.max_r = 1
self.max_g = 1
self.max_b = 1
self.max_temp = 1
self.max_lux = 1
self.max_opacity = 1
self.max_dif = 1
self.max_rb_dif = 1
self.max_gb_dif = 1
self.rb = 1
self.gb = 1
self.r_values = []
self.g_values = []
def setup(self):
####################
#### EE SETUP ####
####################
# Motor object representing the left motor.
self.leftMotor = Motor(self.tamp, LEFT_DRIVE_CONTROLLER_DIRECTION,
LEFT_DRIVE_CONTROLLER_PWM)
# Encoder object for the left motor.
self.leftEncoder = Encoder(self.tamp, LEFT_DRIVE_ENCODER_YELLOW,
LEFT_DRIVE_ENCODER_WHITE)
# Motor object representing the right motor.
self.rightMotor = Motor(self.tamp, RIGHT_DRIVE_CONTROLLER_DIRECTION,
RIGHT_DRIVE_CONTROLLER_PWM)
# Encoder object for the right motor.
self.rightEncoder = Encoder(self.tamp, RIGHT_DRIVE_ENCODER_YELLOW,
RIGHT_DRIVE_ENCODER_WHITE)
# Motor object representing the intake mechanism motors.
self.intakeMotor = Motor(self.tamp, HUGS_MOTOR_CONTROLLER_DIRECTION,
HUGS_MOTOR_CONTROLLER_PWM)
# Encoder object for the intake motor.
self.intakeEncoder = Encoder(self.tamp, HUGS_MOTOR_ENCODER_YELLOW,
HUGS_MOTOR_ENCODER_WHITE)
# Motor object representing the conveyor belt motor.
self.conveyorMotor = Motor(self.tamp, BELT_MOTOR_CONTROLLER_DIRECTION,
BELT_MOTOR_CONTROLLER_PWM)
# Encoder object for the conveyor belt motor.
self.conveyorEncoder = Encoder(self.tamp, BELT_MOTOR_ENCODER_YELLOW,
BELT_MOTOR_ENCODER_WHITE)
# Long range IR sensors
self.irBL = LRIR(self.tamp, LONG_DISTANCE_IR_BL)
self.irBR = LRIR(self.tamp, LONG_DISTANCE_IR_BR)
self.irFL = LRIR(self.tamp, LONG_DISTANCE_IR_FL)
self.irFR = LRIR(self.tamp, LONG_DISTANCE_IR_FR)
# Color sensor
self.color = Color(self.tamp)
# Limit switches
self.conveyorLimSwitch = DigitalInput(self.tamp, CONVEYOR_LIMIT_SWITCH)
self.blockLimSwitch = DigitalInput(self.tamp, BLOCK_LIMIT_SWITCH)
# Servo controlling the door of the collection chamber.
self.backDoorServo = Servo(self.tamp, SERVO_PIN)
# Make sure the door is closed
self.backDoorServo.write(SERVO_CLOSE)
# The switch that tells the program that the competition has started
self.competitionModeSwitch = DigitalInput(self.tamp, COMPETITION_MODE)
#################################
#### INTERNAL MODULE SETUP ####
#################################
# Timer object to moderate checking for intake errors.
self.intakeTimer = Timer()
# Are the intake motors reversing? True if so, False if going forwards.
self.intakeDirection = False
# Start the intake motor.
self.intakeMotor.write(self.intakeDirection, INTAKE_POWER)
# Wall Follow object
self.wallFollow = WallFollow(self.leftMotor, self.rightMotor, Timer(),
self.irFL, self.irFR, self.irBL,
self.irBR)
# A timer to make sure timesteps are only 10 times/second
self.timestepTimer = Timer()
# Timer object describing how long the current module has been running.
self.moduleTimer = Timer()
# Timer for the whole game
self.gameTimer = Timer()
# Runs the PICKUP process
self.pickup = PickupModule(self.moduleTimer, self.conveyorLimSwitch,
self.conveyorMotor, self.conveyorEncoder)
# Runs the DROPOFF process
self.dropoff = DropoffModule(self.moduleTimer, self.backDoorServo,
self.rightMotor, self.leftMotor,
self.rightEncoder)
# Runs the FOLLOW process TODO: Fix forward to actually mean forward.
self.follow = FollowModule(self.moduleTimer, self.leftMotor,
self.rightMotor, self.intakeMotor,
self.wallFollow, FORWARD_SPEED,
self.blockLimSwitch)
# Runs the CHECK process. TODO: pass in proper timers.
self.check = CheckModule(self.moduleTimer, self.leftMotor,
self.rightMotor, self.intakeMotor, self.color)
# Waits for the game to start
self.off = OffModule(self.gameTimer, self.competitionModeSwitch)
# Describes which stage of the program is running.
self.module = MODULE_OFF
def setup(self):
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
self.timer = Timer()
def setup(self):
#Pygame stuff
pygame.init()
self.screen = pygame.display.set_mode((300, 300))
self.TicpIn = 4480 / 2.875
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
self.uIR = DigitalInput(self.tamp, 17)
self.uIR.val = 1
self.servo = Servo(self.tamp, 9)
self.servo.bottom = 0
self.servo.top = 200
self.servo.speed = 30
self.servo.write(self.servo.bottom)
self.servoval = self.servo.bottom
self.delta = 0
self.sorter = Servo(self.tamp, 5)
self.sorter.center = 90
self.sorter.right = 25
self.sorter.left = 165
self.sorter.speed = 15
self.sorter.write(self.sorter.center)
self.sorterval = self.sorter.center
self.dsorter = 0
self.encoderL = Encoder(self.tamp, 22, 23)
self.encoderR = Encoder(self.tamp, 21, 20)
self.init_time = time.time()
# self.encoderL = Encoder(self.tamp, 23, 22)
# self.encoderR = Encoder(self.tamp, 21, 20)
#motor left
self.motorL = Motor(self.tamp, 2, 4)
self.motorLdrive = 0
self.motorL.write(1, 0)
#self.deltaL = 1
#self.motorvalL = 0
#motor right
self.motorR = Motor(self.tamp, 1, 3)
self.motorRdrive = 0
self.motorR.write(1, 0)
#self.deltaR = 1
#self.motorvalR = 0
#gyro
self.gyro = Gyro(self.tamp, self.ss_pin, integrate=True)
self.initAngle = self.gyro.val
self.newAngle = 0
self.blockAngle = 0
self.blockDistance = 0
print "initial angle:" + str(self.initAngle)
self.prevGyro = 0
self.drift = -.02875
self.totalDrift = 0
self.drifts = []
self.PID = PID(.5, 1, 0.15)
self.fwdVel = 0
self.turnVel = 0
self.turn = 0
self.MoveArm, self.Top, self.Bottom = False, 0, 0
self.Sort = 0
self.SortPause = 0
self.State = 1
self.timer = Timer()
def setup(self):
self.TicpIn = 4480/2.875
self.ir_array = Ir_array(self.tamp, 16, 15, 14, 40, 11, 10)
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
self.uIR = DigitalInput(self.tamp, 17)
self.uIR.val = 1
self.servo = Servo(self.tamp, 9)
self.servo.bottom = 0
self.servo.top = 200
self.servo.speed = 30
self.servo.write(self.servo.bottom)
self.servoval = self.servo.bottom
self.delta = 0
self.sorter = Servo(self.tamp, 5)
self.sorter.center = 90
self.sorter.right = 25
self.sorter.left = 165
self.sorter.speed = 15
self.sorter.write(self.sorter.center)
self.sorterval = self.sorter.center
self.dsorter = 0
self.encoderL = Encoder(self.tamp, 22, 23)
self.encoderR = Encoder(self.tamp, 21, 20)
self.init_time = time.time()
# self.encoderL = Encoder(self.tamp, 23, 22)
# self.encoderR = Encoder(self.tamp, 21, 20)
#motor left
self.motorL = Motor(self.tamp, 2, 4)
self.motorLdrive = 0
self.motorL.write(1,0)
#self.deltaL = 1
#self.motorvalL = 0
#motor right
self.motorR = Motor(self.tamp,1, 3)
self.motorRdrive = 0
self.motorR.write(1,0)
#self.deltaR = 1
#self.motorvalR = 0
#gyro
self.gyro = Gyro(self.tamp, self.ss_pin, integrate=True)
self.initAngle = self.gyro.val
self.newAngle = 0
self.blockAngle = 0
self.blockDistance = 0
# print "initial angle:"+str(self.initAngle)
self.Follow = 'Right'
self.IRs = {'Left': [0, 1, 2], 'Right': [5, 4, 3]}
self.prevGyro = 0
self.drift = -.02875
self.totalDrift = 0
self.drifts = []
self.PID=PID(.5, 1, 0.15)
self.IRPID = PID(10, 5, .15)
self.fwdVel = 30
self.turnVel = 0
self.MoveArm, self.Top, self.Bottom = False, 0, 0
self.Sort = 0
self.SortPause = 0
self.State = 1
self.timer = Timer()
from tamproxy.devices import Color
import tamproxy
import pygame
import sys
import numpy as np
import time
import itertools
import os
if __name__ == '__main__':
with tamproxy.TAMProxy() as tamp:
color = Color(tamp, integrationTime=Color.INTEGRATION_TIME_2_4MS, gain=Color.GAIN_60X)
screen = pygame.display.set_mode([500,500])
max_c = np.float32([0,0,0,0])
saves = []
colors = dict(
red=[],
green=[],
none=[]
)
ideal_colors = dict(
red=[255, 0, 0],
green=[0,255,0],
none=[0, 0, 0]
)
names = colors.keys()
i = 0
def setup(self):
# initialize sensors, settings, start timers, etc.
self.gameTimer = Timer()
self.motorGripper = Motor(self.tamp, 23, 3)
self.motorLeft = Motor(self.tamp, 7, 22)
self.motorRight = Motor(self.tamp, 0, 21)
self.motorval = 0
self.motorLeft.write(1, 0)
self.motorRight.write(1, 0)
self.motorGripper.write(1, 0)
self.currentGripperLevel = 2
print "Motors connected."
self.servoDoor = Servo(self.tamp, 20)
self.servovalDoor = self.DOOR_CLOSE_POS
self.servoDoor.write(self.DOOR_CLOSE_POS)
self.timerDoor = Timer()
self.servoGripper = Servo(self.tamp, 10)
self.servovalGripper = self.GRIPPER_CLOSE_POS
self.servoGripper.write(self.servovalGripper)
self.timerGripper = Timer()
print "Servos connected."
self.timer = Timer()
self.gyro = Gyro(self.tamp, 9)
print "Gyro connected."
self.theta = self.gyro.val
self.dT = .01
self.cam = cv2.VideoCapture(0)
print "Camera connected."
self.color = Color(self.tamp,
integrationTime=Color.INTEGRATION_TIME_101MS,
gain=Color.GAIN_1X)
frontLeftIR_pin = 14
self.frontLeftIR = AnalogInput(self.tamp, frontLeftIR_pin)
frontRightIR_pin = 15
self.frontRightIR = AnalogInput(self.tamp, frontRightIR_pin)
leftIR_pin = 16
self.leftIR = AnalogInput(self.tamp, leftIR_pin)
rightIR_pin = 17
self.rightIR = AnalogInput(self.tamp, rightIR_pin)
# Initialize PID Values
self.P = 10
self.I = 0 #5
self.D = 0
self.last_diff = 0
self.integral = 0
self.desiredAngle = self.theta
self.finishedCollectingBlock = False
self.finishedDiscardingBlock = False
self.timer = Timer()
self.state = ExploreState()
# self.state = CollectBlockState()
self.blocksCollected = 0
self.leftIRVals = deque([])
self.rightIRVals = deque([])
self.frontRightIRVals = deque([])
self.frontLeftIRVals = deque([])
# Starts the robot
print "Robot setup complete."
def __init__(self, tamp):
self._dev = Color(tamp, integrationTime=Color.INTEGRATION_TIME_2_4MS, gain=Color.GAIN_60X)