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Code Issues Releases Wiki Activity

Improve vernie

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This commit is contained in:
Andrey Pohilko 2017-09-19 17:06:48 +03:00
parent cf7dee8f7b
commit bb602dae98
2 changed files with 29 additions and 27 deletions
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22
vernie/__init__.py
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@ -23,7 +23,7 @@ try:
with open(os.devnull, 'w') as fnull: with open(os.devnull, 'w') as fnull:
subprocess.call("mplayer %s" % fname, shell=True, stderr=fnull, stdout=fnull) subprocess.call("mplayer %s" % fname, shell=True, stderr=fnull, stdout=fnull)
except: except BaseException:
def say(text): def say(text):
sys.stdout.write("%s\n", text) sys.stdout.write("%s\n", text)
@ -33,9 +33,7 @@ forward = FORWARD = right = RIGHT = 1
backward = BACKWARD = left = LEFT = -1 backward = BACKWARD = left = LEFT = -1
straight = STRAIGHT = 0 straight = STRAIGHT = 0
SPEECH_LANG_MAP = {
class Vernie(MoveHub):
SPEECH_LANG_MAP = {
'en': { 'en': {
'ready': "Vernie the Robot is ready.", 'ready': "Vernie the Robot is ready.",
"commands help": "Available commands are: " "commands help": "Available commands are: "
@ -52,8 +50,12 @@ class Vernie(MoveHub):
"Finished": "Робот завершает работу. Спасибо!", "Finished": "Робот завершает работу. Спасибо!",
"commands from file": "Исполняю команды из файла", "commands from file": "Исполняю команды из файла",
} }
} }
VERNIE_TO_MOTOR_DEGREES = 2.7
class Vernie(MoveHub):
def __init__(self, language='en'): def __init__(self, language='en'):
self.language = language self.language = language
try: try:
@ -79,8 +81,8 @@ class Vernie(MoveHub):
time.sleep(1) time.sleep(1)
def say(self, phrase): def say(self, phrase):
if phrase in self.SPEECH_LANG_MAP[self.language]: if phrase in SPEECH_LANG_MAP[self.language]:
phrase = self.SPEECH_LANG_MAP[self.language][phrase] phrase = SPEECH_LANG_MAP[self.language][phrase]
say(phrase) say(phrase)
def _external_motor_data(self, data): def _external_motor_data(self, data):
@ -101,7 +103,7 @@ class Vernie(MoveHub):
def turn(self, direction, degrees=90, speed=0.3): def turn(self, direction, degrees=90, speed=0.3):
self.head(STRAIGHT, speed=1) self.head(STRAIGHT, speed=1)
self.head(direction, 35, 1) self.head(direction, 35, 1)
self.motor_AB.angled(int(2.7 * degrees), speed * direction, -speed * direction) self.motor_AB.angled(int(VERNIE_TO_MOTOR_DEGREES * degrees), speed * direction, -speed * direction)
self.head(STRAIGHT, speed=1) self.head(STRAIGHT, speed=1)
def move(self, direction, distance=1, speed=0.3): def move(self, direction, distance=1, speed=0.3):
@ -128,14 +130,14 @@ class Vernie(MoveHub):
elif cmd[0] in ("forward", "вперёд", "вперед"): elif cmd[0] in ("forward", "вперёд", "вперед"):
try: try:
dist = int(cmd[-1]) dist = int(cmd[-1])
except: except BaseException:
dist = 1 dist = 1
confirm(cmd) confirm(cmd)
self.move(FORWARD, distance=dist) self.move(FORWARD, distance=dist)
elif cmd[0] in ("backward", "назад"): elif cmd[0] in ("backward", "назад"):
try: try:
dist = int(cmd[-1]) dist = int(cmd[-1])
except: except BaseException:
dist = 1 dist = 1
confirm(cmd) confirm(cmd)
self.move(BACKWARD, distance=dist) self.move(BACKWARD, distance=dist)

4
vernie/android_remote.py
View File

@ -66,8 +66,8 @@ try:
messageString = message.decode("utf-8") messageString = message.decode("utf-8")
a, b, c = decode_xml(messageString) a, b, c = decode_xml(messageString)
divider = 2.0 if c > 0 else -2.0 divider = 2.0 if c > 0 else -2.0
sa = int(10 * (c + b / divider)) / 10.0 sa = round(c + b / divider, 2)
sb = int(10 * (c - b / divider)) / 10.0 sb = round(c - b / divider, 2)
logging.info("SpeedA=%s, SpeedB=%s", sa, sb) logging.info("SpeedA=%s, SpeedB=%s", sa, sb)
robot.motor_AB.constant(sa, sb, async=True) robot.motor_AB.constant(sa, sb, async=True)
time.sleep(0.5) time.sleep(0.5)