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82 lines
2.4 KiB
Python
82 lines
2.4 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
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from pylgbst.peripherals import EncodedMotor
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class Automata(object):
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BASE_SPEED = 0.75
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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.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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return clr
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def left(self):
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self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD)
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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(235, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD)
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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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bot.left()
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bot.left()
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bot.left()
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bot.left()
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exit(0)
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color = COLOR_NONE
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cmds = []
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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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logging.warning(COLORS[color])
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cmds.append(COLORS[color])
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exp = ['BLUE', 'BLUE', 'BLUE', 'WHITE', 'BLUE', 'BLUE', 'WHITE', 'BLUE', 'WHITE', 'YELLOW', 'BLUE', 'BLUE', 'BLUE',
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'BLUE', 'YELLOW', 'WHITE', 'RED']
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logging.info("Exp: %s", exp)
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logging.info("Act: %s", cmds)
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assert exp == cmds
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