k-space/sumorobot-firmware
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add search mode

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Silver Kuusik 2018-07-11 21:33:37 +02:00 committed by GitHub
parent 241e5dfbbf
commit a304e94e68
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1 changed files with 32 additions and 3 deletions
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35
hal.py
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@ -13,8 +13,9 @@ RIGHT_LINE = 3
STOP = 0 STOP = 0
LEFT = 1 LEFT = 1
RIGHT = 2 RIGHT = 2
FORWARD = 3 SEARCH = 3
BACKWARD = 4 FORWARD = 4
BACKWARD = 5
class Sumorobot(object): class Sumorobot(object):
# Constructor # Constructor
@ -40,6 +41,8 @@ class Sumorobot(object):
self.right_line_led = Pin(12, Pin.OUT) self.right_line_led = Pin(12, Pin.OUT)
# Battery gauge # Battery gauge
self.bat_status = 4.3
self.move_counter = 0
self.adc_battery = ADC(Pin(32)) self.adc_battery = ADC(Pin(32))
# The pullups for the phototransistors # The pullups for the phototransistors
@ -61,6 +64,10 @@ class Sumorobot(object):
# For terminating sleep # For terminating sleep
self.terminate = False self.terminate = False
# For search mode
self.search = False
self.search_counter = 0
# Memorise previous servo speeds # Memorise previous servo speeds
self.prev_speed = {LEFT: 0, RIGHT: 0} self.prev_speed = {LEFT: 0, RIGHT: 0}
@ -85,7 +92,17 @@ class Sumorobot(object):
# Function to get battery voltage # Function to get battery voltage
def get_battery_voltage(self): def get_battery_voltage(self):
return round(self.config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2) bat = round(self.config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2)
# When the SumoRobot is not moving
if self.prev_speed[LEFT] == 0 and self.prev_speed[RIGHT] == 0:
if self.move_counter > 0:
self.move_counter -= 1
if self.bat_status < bat - 0.20 and self.move_counter == 0:
deepsleep()
self.bat_status = bat
else:
self.move_counter = 10
return bat
# Function to get distance (cm) from the object in front of the SumoRobot # Function to get distance (cm) from the object in front of the SumoRobot
def get_opponent_distance(self): def get_opponent_distance(self):
@ -211,6 +228,18 @@ class Sumorobot(object):
elif dir == RIGHT: elif dir == RIGHT:
self.set_servo(LEFT, 100) self.set_servo(LEFT, 100)
self.set_servo(RIGHT, 100) self.set_servo(RIGHT, 100)
elif dir == SEARCH:
# Change search mode after X seconds
if self.search_counter == 50:
self.search = not self.search
self.search_counter = 0
# When to search
if self.search:
self.move(FORWARD, block_id)
else:
self.move(LEFT, block_id)
# Increase search counter
self.search_counter += 1
elif dir == FORWARD: elif dir == FORWARD:
self.set_servo(LEFT, 100) self.set_servo(LEFT, 100)
self.set_servo(RIGHT, -100) self.set_servo(RIGHT, -100)