add automata base

examples/automata/__init__.py

@@ -0,0 +1,58 @@
+import time
+from collections import Counter
+
+from pylgbst.constants import COLORS, COLOR_NONE, COLOR_BLACK, COLOR_CYAN, COLOR_BLUE
+from pylgbst.movehub import MoveHub
+from pylgbst.peripherals import ColorDistanceSensor
+
+
+class Automata(object):
+
+    def __init__(self):
+        super(Automata, self).__init__()
+        self.__hub = MoveHub()
+        self.__hub.color_distance_sensor.subscribe(self.__on_sensor, mode=ColorDistanceSensor.COLOR_ONLY)
+        self._sensor = []
+
+    def __on_sensor(self, color, distance=-1):
+        if distance < 4 and color not in (COLOR_NONE, COLOR_BLACK):
+            # print (COLORS[color], distance)
+            self._sensor.append((color, int(distance)))
+
+    def feed_tape(self):
+        self.__hub.motor_external.angled(120, 0.1)
+        time.sleep(0.2)
+
+    def get_color(self):
+        res = self._sensor
+        self._sensor = []
+        cnts = Counter([x[0] for x in res])
+        clr = cnts.most_common(1)[0][0] if cnts else COLOR_NONE
+        if clr == COLOR_CYAN:
+            clr = COLOR_BLUE
+        return clr
+
+    def left(self):
+        self.__hub.motor_AB.angled(270, 0.25, -0.25)
+        time.sleep(0.5)
+
+    def right(self):
+        self.__hub.motor_AB.angled(-270, 0.25, -0.25)
+        time.sleep(0.5)
+
+    def forward(self):
+        self.__hub.motor_AB.angled(830, 0.25)
+        time.sleep(0.5)
+
+    def backward(self):
+        self.__hub.motor_AB.angled(830, -0.25)
+        time.sleep(0.5)
+
+
+automata = Automata()
+
+for x in range(16):
+    automata.feed_tape()
+    print (x, COLORS[automata.get_color()])
+
+# time.sleep(1000)