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https://github.com/undera/pylgbst.git
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98 lines
2.9 KiB
Python
98 lines
2.9 KiB
Python
from pylgbst import *
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forward = FORWARD = right = RIGHT = 1
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backward = BACKWARD = left = LEFT = -1
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straight = STRAIGHT = 0
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class Vernie(MoveHub):
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def __init__(self):
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try:
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conn = DebugServerConnection()
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except BaseException:
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logging.debug("Failed to use debug server: %s", traceback.format_exc())
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conn = BLEConnection().connect()
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super(Vernie, self).__init__(conn)
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while True:
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required_devices = (self.color_distance_sensor, self.motor_external)
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if None not in required_devices:
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break
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log.debug("Waiting for required devices to appear: %s", required_devices)
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time.sleep(1)
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self._head_position = 0
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self.motor_external.subscribe(self._external_motor_data)
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self._color_detected = COLOR_NONE
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self._sensor_distance = 10
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self.color_distance_sensor.subscribe(self._color_distance_data)
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time.sleep(1)
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self._reset_head()
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time.sleep(1)
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log.info("Vernie is ready.")
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def _external_motor_data(self, data):
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log.debug("External motor position: %s", data)
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self._head_position = data
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def _color_distance_data(self, color, distance):
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log.debug("Color & Distance data: %s %s", COLORS[color], distance)
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self._sensor_distance = distance
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self._color_detected = color
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if self._color_detected != COLOR_NONE:
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self.led.set_color(self._color_detected)
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def _reset_head(self):
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self.motor_external.timed(1, -0.2)
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self.head(RIGHT, speed=45)
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def head(self, direction=RIGHT, angle=25, speed=0.1):
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if direction == STRAIGHT:
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angle = -self._head_position
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direction = 1
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self.motor_external.angled(direction * angle, speed)
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def turn(self, direction, degrees=90, speed=0.3):
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self.head(STRAIGHT, speed=1)
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self.head(direction, 35, 1)
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self.motor_AB.angled(225 * degrees / 90, speed * direction, -speed * direction)
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self.head(STRAIGHT, speed=1)
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def move(self, direction, distance=1, speed=0.3):
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self.head(STRAIGHT, speed=0.5)
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self.motor_AB.angled(distance * 450, speed * direction, speed * direction)
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def program(self):
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# while True:
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self.move(FORWARD)
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self.move(FORWARD)
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self.turn(RIGHT)
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self.move(FORWARD)
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self.turn(LEFT)
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self.move(FORWARD)
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self.turn(RIGHT)
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self.move(BACKWARD)
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self.move(BACKWARD)
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self.turn(LEFT)
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self.move(FORWARD)
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self.move(FORWARD)
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self.turn(RIGHT)
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self.move(FORWARD)
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self.turn(RIGHT)
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self.move(FORWARD, 3)
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self.turn(LEFT)
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self.turn(LEFT)
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self.move(BACKWARD, 2)
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if __name__ == '__main__':
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logging.basicConfig(level=logging.DEBUG)
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comms.log.setLevel(logging.INFO)
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vernie = Vernie()
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vernie.program()
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