Two-color centering+snowflake

examples/plotter/__init__.py

@@ -2,7 +2,7 @@ import logging
 import math
 import time
 
-from pylgbst import MoveHub, ColorDistanceSensor, COLORS, COLOR_RED, COLOR_CYAN
+from pylgbst import MoveHub, ColorDistanceSensor, COLORS, COLOR_RED, COLOR_YELLOW
 
 
 class Plotter(MoveHub):
@@ -35,23 +35,25 @@ class Plotter(MoveHub):
             self.caret.constant(-self.base_speed)
             count = 0
             max_tries = 50
-            while self._marker_color != COLOR_RED and count < max_tries:
+            while self._marker_color not in (COLOR_RED, COLOR_YELLOW) and count < max_tries:
                 time.sleep(30.0 / max_tries)
                 count += 1
-            logging.info("Centering tries: %s, color #%s", count,
-                         COLORS[self._marker_color] if self._marker_color else None)
+            self.color_distance_sensor.unsubscribe(self._on_distance)
+            clr = COLORS[self._marker_color] if self._marker_color else None
+            logging.info("Centering tries: %s, color #%s", count, clr)
             if count >= max_tries:
                 raise RuntimeError("Failed to center caret")
         finally:
             self.caret.stop()
             self.color_distance_sensor.unsubscribe(self._on_distance)
 
-        self.move(-self.field_width, 0)
+        if self._marker_color != COLOR_YELLOW:
+            self.move(-self.field_width, 0)
 
     def _on_distance(self, color, distance):
         self._marker_color = None
         logging.debug("Color: %s, distance %s", COLORS[color], distance)
-        if color in (COLOR_RED, COLOR_CYAN):
+        if color in (COLOR_RED, COLOR_YELLOW):
             if distance <= 3:
                 self._marker_color = color
 
@@ -110,7 +112,7 @@ class Plotter(MoveHub):
             return
         wheel_dir = movy / abs(movy)
         if wheel_dir == -self.__last_wheel_dir:
-            self.wheels.angled(270, -wheel_dir)
+            self.wheels.angled(230, -wheel_dir)
         self.__last_wheel_dir = wheel_dir
 
     @staticmethod

examples/plotter/try.py

@@ -7,11 +7,13 @@ from pylgbst.comms import DebugServerConnection, BLEConnection
 
 
 def moves():
+    plotter.move(-FIELD_WIDTH, 0)
+    plotter.move(FIELD_WIDTH * 2, 0)
+    plotter.move(-FIELD_WIDTH, 0)
+
     plotter.move(FIELD_WIDTH, FIELD_WIDTH)
     plotter.move(-FIELD_WIDTH, -FIELD_WIDTH)
 
-    plotter.move(FIELD_WIDTH, 0)
-    plotter.move(-FIELD_WIDTH, 0)
     plotter.move(0, FIELD_WIDTH)
     plotter.move(0, -FIELD_WIDTH)
 
@@ -47,7 +49,7 @@ def circles():
     plotter.move(FIELD_WIDTH / 4.0, 0)
     plotter.circle(FIELD_WIDTH / 2.0)
 
-    plotter.move(FIELD_WIDTH / 4.0, 0)
+    plotter.move(FIELD_WIDTH / 2.0, 0)
     plotter.circle(FIELD_WIDTH)
 
 
@@ -59,10 +61,12 @@ class LaserPlotter(Plotter):
 
 
 def lego():
-    t = FIELD_WIDTH / 10.0
+    t = FIELD_WIDTH / 5.0
     h = t * 5.0
     w = t * 3.0
 
+    plotter.move(-t * 2.0, 0)
+
     plotter.line(h, 0)
     plotter.line(0, t)
     plotter.line(-(h - t), 0)
@@ -164,6 +168,56 @@ def try_speeds():
         time.sleep(1)
 
 
+def snowflake():
+    a = [300, 232,
+         351, 144,
+         307, 68,
+         350, 45,
+         379, 94,
+         413, 36,
+         456, 61,
+         422, 119,
+         482, 118,
+         481, 167,
+         394, 168,
+         343, 256,
+         444, 256,
+         488, 179,
+         530, 204,
+         500, 256,
+         569, 256,
+         582, 280]
+    prev = None
+    vals = []
+    maxval = 0
+    for i in range(0, len(a)):
+        if i % 2:
+            continue
+
+        maxval = max(maxval, abs(a[i]), abs(a[i + 1]))
+        if prev:
+            vals.append((a[i] - prev[0], a[i + 1] - prev[1]))
+        prev = a[i], a[i + 1]
+
+    assert len(vals) == len(a) / 2 - 1
+
+    vals = [(x[0] / float(maxval), x[1] / float(maxval)) for x in vals]
+
+    logging.info("Moves: %s", vals)
+    zoom = FIELD_WIDTH * 2.0
+    for item in vals:
+        plotter.line(item[0] * zoom, item[1] * zoom)
+
+    for item in reversed(vals):
+        plotter.line(-item[0] * zoom, item[1] * zoom)
+
+    for item in vals:
+        plotter.line(-item[0] * zoom, -item[1] * zoom)
+
+    for item in reversed(vals):
+        plotter.line(item[0] * zoom, -item[1] * zoom)
+
+
 if __name__ == '__main__':
     logging.basicConfig(level=logging.INFO)
 
@@ -173,19 +227,18 @@ if __name__ == '__main__':
         logging.warning("Failed to use debug server: %s", traceback.format_exc())
         conn = BLEConnection().connect()
 
-    plotter = LaserPlotter(conn, 0.5)
+    plotter = LaserPlotter(conn, 0.75)
     FIELD_WIDTH = plotter.field_width
 
     try:
-        #plotter.initialize()
+        plotter.initialize()
 
         # plotter._tool_down()
 
         # try_speeds()
 
-
         # moves()
-        triangle()
+        # triangle()
         # square()
         # cross()
         # romb()
@@ -193,9 +246,10 @@ if __name__ == '__main__':
         # plotter.spiral(4, 0.02)
         # plotter.rectangle(FIELD_WIDTH / 5.0, FIELD_WIDTH / 5.0, solid=True)
 
-        # lego()
         # square_spiral()
+        # lego()
         # christmas_tree()
+        snowflake()
         pass
     finally:
         plotter.finalize()