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Code Issues Releases Wiki Activity

Better automata

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This commit is contained in:
Andrey Pohilko 2019-04-05 20:56:04 +03:00
parent 3f47d1ce70
commit 5f9ce688e1
1 changed files with 17 additions and 5 deletions
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22
examples/automata/__init__.py
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@ -1,8 +1,8 @@
import logging
import time
from collections import Counter
from pylgbst.constants import COLOR_NONE, COLOR_BLACK, COLOR_CYAN, COLOR_BLUE
from pylgbst.movehub import MoveHub
from pylgbst.movehub import MoveHub, COLOR_NONE, COLOR_CYAN, COLOR_BLUE, COLOR_BLACK, COLOR_RED, COLORS
from pylgbst.peripherals import ColorDistanceSensor
@ -15,21 +15,23 @@ class Automata(object):
self._sensor = []
def __on_sensor(self, color, distance=-1):
if distance < 4 and color not in (COLOR_NONE, COLOR_BLACK):
# print (COLORS[color], distance)
if distance < 4:
self._sensor.append((color, int(distance)))
def feed_tape(self):
self.__hub.motor_external.angled(120, 0.1)
self.__hub.motor_external.angled(120, 0.25)
time.sleep(0.2)
def get_color(self):
res = self._sensor
self._sensor = []
logging.info("Sensor data: %s", res)
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
elif clr == COLOR_BLACK:
clr = COLOR_NONE
return clr
def left(self):
@ -47,3 +49,13 @@ class Automata(object):
def backward(self):
self.__hub.motor_AB.angled(830, -0.25)
time.sleep(0.5)
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
bot = Automata()
color = COLOR_NONE
while color != COLOR_RED:
bot.feed_tape()
color = bot.get_color()
print (COLORS[color])