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Code Issues Releases Wiki Activity

Much improved "go towards light"

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This commit is contained in:
Andrey Pohilko 2017-09-19 17:06:33 +03:00
parent 4ab378499e
commit cf7dee8f7b
1 changed files with 30 additions and 25 deletions
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55
vernie/go_towards_light.py
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@ -4,20 +4,17 @@ logging.basicConfig(level=logging.INFO)
robot = Vernie() robot = Vernie()
running = True running = True
criterion = max criterion = min
cur_luminosity = 0
def on_change_lum(lum): def on_change_lum(lum):
global mode_rotation global cur_luminosity
if mode_rotation: cur_luminosity = lum
global lum_values
lum_values.append(lum)
else: lum_values = {}
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): def on_btn(pressed):
@ -26,19 +23,28 @@ def on_btn(pressed):
running = False running = False
def on_turn(angle):
lum_values[angle] = cur_luminosity
robot.button.subscribe(on_btn) robot.button.subscribe(on_btn)
robot.color_distance_sensor.subscribe(on_change_lum, CDS_MODE_LUMINOSITY, granularity=1)
robot.color_distance_sensor.subscribe(on_change_lum, CDS_MODE_LUMINOSITY, granularity=0) robot.motor_A.subscribe(on_turn, granularity=30)
while running: while running:
mode_rotation = True
# turn around, measuring luminosity # turn around, measuring luminosity
lum_values = [] lum_values = {}
robot.turn(RIGHT, degrees=360, speed=0.2) robot.turn(RIGHT, degrees=360, speed=0.1)
# get max luminosity angle # get max luminosity angle
idx = lum_values.index(criterion(lum_values)) amin = min(lum_values.keys())
angle = int(360.0 * idx / len(lum_values)) lmax = max(lum_values.values())
almax = amin
for almax in lum_values:
if lum_values[almax] == lmax:
break
angle = int((almax - amin) / VERNIE_TO_MOTOR_DEGREES)
logging.info("Angle to brightest %.3f is %s", lmax, angle)
# turn towards light # turn towards light
if angle > 180: if angle > 180:
@ -47,11 +53,10 @@ while running:
robot.turn(RIGHT, degrees=angle) robot.turn(RIGHT, degrees=angle)
# Now let's move until luminosity changes # Now let's move until luminosity changes
# robot.color_distance_sensor.subscribe(get_changed_luminosity, CDS_MODE_LUMINOSITY, granularity=10) lum = cur_luminosity
while cur_luminosity >= lum:
mode_rotation = False logging.info("Luminosity is %.3f, moving towards it", cur_luminosity)
cur_luminosity = -1 robot.move(FORWARD, 1)
while cur_luminosity < 1:
robot.move(FORWARD, 2)
robot.color_distance_sensor.unsubscribe(on_change_lum) robot.color_distance_sensor.unsubscribe(on_change_lum)
robot.button.unsubscribe(on_btn)