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https://github.com/undera/pylgbst.git
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32eecac1a6
* It's HUB ID * Rename file * Working with official doc * Some progress * AttachedIO msg * device action impl * some better device alert impl * restructuring * Some port commands handled * Some command feedback waiting * Some more request-reply things * Some more request-reply things * Reworked msg classes * Getting back to UTs * Getting back to UTs * Facing sync lock problems * Facing sync lock problems * Testing it * Covering more with tests * handle actions * Hub class is almost covered * done coverage for Hub * done coverage for MoveHub * Button is tested * remove debug server from examples * Current and voltage tested * color sensor basic test * cover tilt sensor * motor sensor tested * constant motor * motor is tested * hold_speed impl for motor * motor commands recorded * some cleanup * some cleanup * some cleanup * debug * debug * FIX a bug * acc/dec profiles figured out * UT motor ops * UT motor ops * Get rid of weird piggyback * fix UT * Fix encoding? * fix test mb * More robust * Checked demo works * cosmetics * cosmetics * Maybe better test * fetching and decoding some device caps * describing devs * describing devs works * Applying modes we've learned * Simple and extensible dev attach * Reworking peripherals based on modes * Applying modes we've learned * implemented getting sensor data * fixed port subscribe * Added led out cmds on vision sensor * Worked on color-distance sensor * Introduce some locking for consistency * Improved it all * Travis flags * improve * improve * improve docs
67 lines
1.5 KiB
Python
67 lines
1.5 KiB
Python
from pylgbst.peripherals import VisionSensor
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from . import *
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logging.basicConfig(level=logging.INFO)
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robot = Vernie()
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running = True
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criterion = min
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cur_luminosity = 0
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def on_change_lum(lumn):
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global cur_luminosity
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cur_luminosity = lumn
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lum_values = {}
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def on_btn(pressed):
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global running
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if pressed:
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running = False
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def on_turn(angl):
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lum_values[angl] = cur_luminosity
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robot.button.subscribe(on_btn)
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robot.vision_sensor.subscribe(on_change_lum, VisionSensor.DEBUG, granularity=1)
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robot.motor_A.subscribe(on_turn, granularity=30)
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# TODO: add bump detect to go back?
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while running:
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# turn around, measuring luminosity
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lum_values = {}
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robot.turn(RIGHT, degrees=360, speed=0.2)
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# get max luminosity angle
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amin = min(lum_values.keys())
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lmax = max(lum_values.values())
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almax = amin
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for almax in lum_values:
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if lum_values[almax] == lmax:
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break
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angle = int((almax - amin) / VERNIE_TO_MOTOR_DEGREES)
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logging.info("Angle to brightest %.3f is %s", lmax, angle)
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# turn towards light
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if angle > 180:
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robot.turn(LEFT, degrees=360 - angle)
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else:
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robot.turn(RIGHT, degrees=angle)
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# Now let's move until luminosity changes
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lum = cur_luminosity
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while cur_luminosity >= lum:
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logging.info("Luminosity is %.3f, moving towards it", cur_luminosity)
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robot.move(FORWARD, 1)
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robot.vision_sensor.unsubscribe(on_change_lum)
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robot.button.unsubscribe(on_btn)
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