Go towards light Vernie demo

README.md

@@ -68,8 +68,9 @@ sudo python -c "from pylgbst.comms import *; \
 - document all API methods
 - make sure unit tests cover all important code
 - generalize getting device info + give constants (low priority)
-- subscribing to color sensor disables LED operating in `run_away_game.py`. Why?
+- subscribing to 2 sensors at once causes port status to not arrive => sync mode stuck. Why?
 - can we subscribe to LED?
+- organize requesting and printing device info on startup - firmware version at least
 
 ## Links
 

vernie/__init__.py

@@ -74,7 +74,7 @@ class Vernie(MoveHub):
         self._head_position = 0
         self.motor_external.subscribe(self._external_motor_data)
 
-        # self._reset_head() FIXME: restore it
+        self._reset_head()
         # self.say("ready")
         time.sleep(1)
 
@@ -101,7 +101,7 @@ class Vernie(MoveHub):
     def turn(self, direction, degrees=90, speed=0.3):
         self.head(STRAIGHT, speed=1)
         self.head(direction, 35, 1)
-        self.motor_AB.angled(225 * degrees / 90, speed * direction, -speed * direction)
+        self.motor_AB.angled(int(2.7 * degrees), speed * direction, -speed * direction)
         self.head(STRAIGHT, speed=1)
 
     def move(self, direction, distance=1, speed=0.3):

vernie/go_towards_light.py

@@ -0,0 +1,57 @@
+from vernie import *
+
+logging.basicConfig(level=logging.INFO)
+
+robot = Vernie()
+running = True
+criterion = max
+
+
+def on_change_lum(lum):
+    global mode_rotation
+    if mode_rotation:
+        global lum_values
+        lum_values.append(lum)
+    else:
+        global cur_luminosity
+        if cur_luminosity < 0:
+            cur_luminosity = lum  # initial value
+        elif cur_luminosity != lum:
+            cur_luminosity = 2  # value above 1 signals end of movement, 'cause lum value is float below 1.0
+
+
+def on_btn(pressed):
+    global running
+    if pressed:
+        running = False
+
+
+robot.button.subscribe(on_btn)
+
+robot.color_distance_sensor.subscribe(on_change_lum, CDS_MODE_LUMINOSITY, granularity=0)
+while running:
+    mode_rotation = True
+
+    # turn around, measuring luminosity
+    lum_values = []
+    robot.turn(RIGHT, degrees=360, speed=0.2)
+
+    # get max luminosity angle
+    idx = lum_values.index(criterion(lum_values))
+    angle = int(360.0 * idx / len(lum_values))
+
+    # turn towards light
+    if angle > 180:
+        robot.turn(LEFT, degrees=360 - angle)
+    else:
+        robot.turn(RIGHT, degrees=angle)
+
+    # Now let's move until luminosity changes
+    # robot.color_distance_sensor.subscribe(get_changed_luminosity, CDS_MODE_LUMINOSITY, granularity=10)
+
+    mode_rotation = False
+    cur_luminosity = -1
+    while cur_luminosity < 1:
+        robot.move(FORWARD, 2)
+
+robot.color_distance_sensor.unsubscribe(on_change_lum)

vernie/run_away_game.py

@@ -4,8 +4,8 @@ robot = Vernie()
 running = True
 
 
-
 def callback(color, distance):
+    robot.led.set_color(color)
     speed = (10 - distance + 1) / 10.0
     secs = (10 - distance + 1) / 10.0
     print("Distance is %.1f inches, I'm running back with %s%% speed!" % (distance, int(speed * 100)))