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80 lines
2.3 KiB
Python
80 lines
2.3 KiB
Python
import logging
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import time
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from collections import Counter
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from pylgbst.hub import MoveHub, COLOR_NONE, COLOR_BLACK, COLORS, COLOR_CYAN, COLOR_BLUE, COLOR_RED, COLOR_YELLOW, \
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COLOR_WHITE
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from pylgbst.peripherals import EncodedMotor
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class Automata(object):
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BASE_SPEED = 1.0
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def __init__(self):
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super(Automata, self).__init__()
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self.__hub = MoveHub()
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self.__hub.vision_sensor.subscribe(self.__on_sensor)
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self._sensor = []
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def __on_sensor(self, color, distance=-1):
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logging.debug("Sensor data: %s/%s", COLORS[color], distance)
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if distance <= 4:
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if color not in (COLOR_NONE, COLOR_BLACK):
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self._sensor.append((color, int(distance)))
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logging.debug("Sensor data: %s", COLORS[color])
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def feed_tape(self):
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self.__hub.motor_external.angled(60, 0.5)
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time.sleep(0.1)
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self.__hub.motor_external.angled(60, 0.5)
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time.sleep(0.1)
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def get_color(self):
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res = self._sensor
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self._sensor = []
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logging.debug("Sensor data: %s", res)
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cnts = Counter([x[0] for x in res])
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clr = cnts.most_common(1)[0][0] if cnts else COLOR_NONE
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if clr == COLOR_CYAN:
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clr = COLOR_BLUE
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self.__hub.led.set_color(clr)
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return clr
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def left(self):
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self.__hub.motor_AB.angled(290, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
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time.sleep(0.1)
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self.__hub.motor_AB.stop()
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def right(self):
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self.__hub.motor_AB.angled(270, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
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time.sleep(0.1)
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self.__hub.motor_AB.stop()
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def forward(self):
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self.__hub.motor_AB.angled(500, self.BASE_SPEED)
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def backward(self):
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self.__hub.motor_AB.angled(500, -self.BASE_SPEED)
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if __name__ == '__main__':
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logging.basicConfig(level=logging.INFO)
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bot = Automata()
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color = None
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cmds = []
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while color != COLOR_NONE:
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bot.feed_tape()
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color = bot.get_color()
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logging.warning(COLORS[color])
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if color == COLOR_BLUE:
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bot.forward()
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elif color == COLOR_RED:
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bot.backward()
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elif color == COLOR_YELLOW:
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bot.left()
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elif color == COLOR_WHITE:
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bot.right()
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