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59 lines
1.5 KiB
Python
59 lines
1.5 KiB
Python
import time
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from collections import Counter
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from pylgbst.constants import COLORS, COLOR_NONE, COLOR_BLACK, COLOR_CYAN, COLOR_BLUE
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from pylgbst.movehub import MoveHub
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from pylgbst.peripherals import ColorDistanceSensor
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class Automata(object):
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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.color_distance_sensor.subscribe(self.__on_sensor, mode=ColorDistanceSensor.COLOR_ONLY)
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self._sensor = []
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def __on_sensor(self, color, distance=-1):
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if distance < 4 and color not in (COLOR_NONE, COLOR_BLACK):
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# print (COLORS[color], distance)
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self._sensor.append((color, int(distance)))
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def feed_tape(self):
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self.__hub.motor_external.angled(120, 0.1)
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time.sleep(0.2)
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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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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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return clr
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def left(self):
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self.__hub.motor_AB.angled(270, 0.25, -0.25)
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time.sleep(0.5)
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def right(self):
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self.__hub.motor_AB.angled(-270, 0.25, -0.25)
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time.sleep(0.5)
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def forward(self):
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self.__hub.motor_AB.angled(830, 0.25)
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time.sleep(0.5)
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def backward(self):
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self.__hub.motor_AB.angled(830, -0.25)
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time.sleep(0.5)
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automata = Automata()
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for x in range(16):
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automata.feed_tape()
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print (x, COLORS[automata.get_color()])
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# time.sleep(1000)
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