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62 lines
1.7 KiB
Python
62 lines
1.7 KiB
Python
import logging
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import time
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from collections import Counter
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from pylgbst.movehub import MoveHub, COLOR_NONE, COLOR_CYAN, COLOR_BLUE, COLOR_BLACK, COLOR_RED, COLORS
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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:
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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, 0.25)
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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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logging.info("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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elif clr == COLOR_BLACK:
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clr = COLOR_NONE
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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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if __name__ == '__main__':
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logging.basicConfig(level=logging.INFO)
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bot = Automata()
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color = COLOR_NONE
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while color != COLOR_RED:
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bot.feed_tape()
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color = bot.get_color()
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print (COLORS[color])
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