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This commit is contained in:
Andrey Pokhilko 2019-08-05 17:36:35 +03:00
parent 66c376b2bd
commit 72dd6f0214
1 changed files with 22 additions and 24 deletions
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46
examples/automata/__init__.py
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@ -2,17 +2,18 @@ import logging
import time import time
from collections import Counter from collections import Counter
from pylgbst.hub import MoveHub, COLOR_NONE, COLOR_BLACK, COLORS, COLOR_CYAN, COLOR_BLUE, COLOR_RED from pylgbst.hub import MoveHub, COLOR_NONE, COLOR_BLACK, COLORS, COLOR_CYAN, COLOR_BLUE, COLOR_RED, COLOR_YELLOW, \
COLOR_WHITE
from pylgbst.peripherals import EncodedMotor from pylgbst.peripherals import EncodedMotor
class Automata(object): class Automata(object):
BASE_SPEED = 0.75 BASE_SPEED = 1.0
def __init__(self): def __init__(self):
super(Automata, self).__init__() super(Automata, self).__init__()
self.__hub = MoveHub() self.__hub = MoveHub()
# self.__hub.vision_sensor.subscribe(self.__on_sensor) self.__hub.vision_sensor.subscribe(self.__on_sensor)
self._sensor = [] self._sensor = []
def __on_sensor(self, color, distance=-1): def __on_sensor(self, color, distance=-1):
@ -31,51 +32,48 @@ class Automata(object):
def get_color(self): def get_color(self):
res = self._sensor res = self._sensor
self._sensor = [] self._sensor = []
logging.info("Sensor data: %s", res) logging.debug("Sensor data: %s", res)
cnts = Counter([x[0] for x in res]) cnts = Counter([x[0] for x in res])
clr = cnts.most_common(1)[0][0] if cnts else COLOR_NONE clr = cnts.most_common(1)[0][0] if cnts else COLOR_NONE
if clr == COLOR_CYAN: if clr == COLOR_CYAN:
clr = COLOR_BLUE clr = COLOR_BLUE
self.__hub.led.set_color(clr)
return clr return clr
def left(self): def left(self):
self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD) self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
time.sleep(0.1) time.sleep(0.1)
self.__hub.motor_AB.stop() self.__hub.motor_AB.stop()
def right(self): def right(self):
self.__hub.motor_AB.angled(235, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD) self.__hub.motor_AB.angled(270, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
time.sleep(0.1) time.sleep(0.1)
self.__hub.motor_AB.stop() self.__hub.motor_AB.stop()
def forward(self): def forward(self):
self.__hub.motor_AB.angled(500, self.BASE_SPEED) self.__hub.motor_AB.angled(600, self.BASE_SPEED)
def backward(self): def backward(self):
self.__hub.motor_AB.angled(500, -self.BASE_SPEED) self.__hub.motor_AB.angled(600, -self.BASE_SPEED)
if __name__ == '__main__': if __name__ == '__main__':
logging.basicConfig(level=logging.INFO) logging.basicConfig(level=logging.INFO)
bot = Automata() bot = Automata()
bot.left() color = None
bot.left()
bot.left()
bot.left()
exit(0)
color = COLOR_NONE
cmds = [] cmds = []
while color != COLOR_RED: while color != COLOR_NONE:
bot.feed_tape() bot.feed_tape()
color = bot.get_color() color = bot.get_color()
logging.warning(COLORS[color])
cmds.append(COLORS[color])
exp = ['BLUE', 'BLUE', 'BLUE', 'WHITE', 'BLUE', 'BLUE', 'WHITE', 'BLUE', 'WHITE', 'YELLOW', 'BLUE', 'BLUE', 'BLUE', logging.warning(COLORS[color])
'BLUE', 'YELLOW', 'WHITE', 'RED']
logging.info("Exp: %s", exp) if color == COLOR_BLUE:
logging.info("Act: %s", cmds) bot.forward()
assert exp == cmds elif color == COLOR_RED:
bot.backward()
elif color == COLOR_YELLOW:
bot.left()
elif color == COLOR_WHITE:
bot.right()