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Code Issues Releases Wiki Activity

Refactoring

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This commit is contained in:
Andrey Pohilko 2018-02-02 21:34:32 +03:00
parent 737d955da4
commit 5ded337fe0
1 changed files with 35 additions and 26 deletions
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61
examples/sorter/__init__.py
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@ -15,6 +15,7 @@ class ColorSorter(MoveHub):
self.distance = 10 self.distance = 10
self._last_wheel_dir = 1 self._last_wheel_dir = 1
self.color_distance_sensor.subscribe(self.on_color) self.color_distance_sensor.subscribe(self.on_color)
self.queue = [None for _ in range(0, 1)]
def on_color(self, colr, dist): def on_color(self, colr, dist):
if colr not in (COLOR_BLACK,) or dist < 2.5: if colr not in (COLOR_BLACK,) or dist < 2.5:
@ -38,14 +39,41 @@ class ColorSorter(MoveHub):
offset = newpos - self.position offset = newpos - self.position
wheel_dir = offset / abs(offset) wheel_dir = offset / abs(offset)
if wheel_dir != self._last_wheel_dir: # if wheel_dir != self._last_wheel_dir:
self.motor_B.angled(270 * wheel_dir) # self.motor_B.angled(30 * wheel_dir)
self.motor_B.angled(offset * 360 * 15) self.motor_B.angled(offset * 600, 0.8)
self.position = newpos self.position = newpos
self._last_wheel_dir = wheel_dir self._last_wheel_dir = wheel_dir
def clear(self):
self.color_distance_sensor.unsubscribe(self.on_color)
if not self.motor_B.in_progress():
self.move_to_bucket(COLOR_BLACK)
self.motor_AB.stop(async=True)
def tick(self):
res = False
item = (self.color, self.distance) # read once
if item[1] <= 5.0:
logging.info("Detected: %s", COLORS[item[0]])
self.queue.append(item)
res = True
else:
self.queue.append(None)
logging.debug("%s", [COLORS[x[0]] if x else None for x in self.queue])
last = self.queue.pop(0)
if last:
self.move_to_bucket(last[0])
res = True
self.feed()
return res
if __name__ == '__main__': if __name__ == '__main__':
logging.basicConfig(level=logging.INFO) logging.basicConfig(level=logging.INFO)
@ -56,34 +84,15 @@ if __name__ == '__main__':
logging.warning("Failed to use debug server: %s", traceback.format_exc()) logging.warning("Failed to use debug server: %s", traceback.format_exc())
conn = BLEConnection().connect() conn = BLEConnection().connect()
queue = [None for _ in range(0, 1)]
sorter = ColorSorter(conn) sorter = ColorSorter(conn)
empty = 0 empty = 0
try: try:
while True: while True:
empty += 1 empty += 1
item = (sorter.color, sorter.distance) # read once if sorter.tick():
# logging.info("%s %.2f", COLORS[item[0]], item[1])
if item[1] <= 5.0:
logging.info("Detected: %s", COLORS[item[0]])
queue.append(item)
empty = 0 empty = 0
else: elif empty > 10:
queue.append(None) break
logging.debug("%s", [COLORS[x[0]] if x else None for x in queue])
last = queue.pop(0)
if last:
sorter.move_to_bucket(last[0])
empty = 0
if empty > 20:
sorter.move_to_bucket(COLOR_BLACK)
sorter.feed()
finally: finally:
if not sorter.motor_B.in_progress(): sorter.clear()
sorter.move_to_bucket(COLOR_BLACK)
sorter.motor_AB.stop(async=True)