merge head
This commit is contained in:
commit
d63bda4681
@ -2,10 +2,12 @@
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"status_led_pin": 22,
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"status_led_pin": 22,
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"battery_coeff": 2.25,
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"battery_coeff": 2.25,
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"sumo_id": "xxxxxxxx",
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"sumo_id": "xxxxxxxx",
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"firmware_version": 0.3,
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"firmware_version": "0.3.1",
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"left_servo_tuning": 33,
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"left_servo_tuning": 33,
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"right_servo_tuning": 33,
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"right_servo_tuning": 33,
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"ultrasonic_distance": 40,
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"ultrasonic_distance": 40,
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"left_line_value": 1000,
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"right_line_value": 1000,
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"left_line_threshold": 1000,
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"left_line_threshold": 1000,
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"right_line_threshold": 1000,
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"right_line_threshold": 1000,
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"sumo_server": "165.227.140.64:80",
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"sumo_server": "165.227.140.64:80",
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20
hal.py
20
hal.py
@ -143,10 +143,20 @@ class Sumorobot(object):
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return opponent
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return opponent
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# Function to update line calibration and write it to the config file
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# Function to update line calibration and write it to the config file
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def calibrate_line(self):
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def calibrate_line_value(self):
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# Read the line sensor values
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# Read the line sensor values
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self.config["left_line_threshold"] = self.adc_line_left.read()
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self.config["left_line_value"] = self.adc_line_left.read()
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self.config["right_line_threshold"] = self.adc_line_right.read()
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self.config["right_line_value"] = self.adc_line_right.read()
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# Update the config file
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with open("config.part", "w") as config_file:
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config_file.write(ujson.dumps(self.config))
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os.rename("config.part", "config.json")
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# Function to update line threshold calibration and write it to the config file
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def calibrate_line_threshold(self, value):
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# Read the line sensor values
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self.config["left_line_threshold"] = value
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self.config["right_line_threshold"] = value
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# Update the config file
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# Update the config file
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with open("config.part", "w") as config_file:
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with open("config.part", "w") as config_file:
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config_file.write(ujson.dumps(self.config))
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config_file.write(ujson.dumps(self.config))
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@ -169,12 +179,12 @@ class Sumorobot(object):
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# Return the given line sensor value
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# Return the given line sensor value
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if dir == LEFT:
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if dir == LEFT:
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line = abs(self.get_line(LEFT) - self.config["left_line_threshold"]) > 1000
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line = abs(self.get_line(LEFT) - self.config["left_line_value"]) > self.config["left_line_threshold"]
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self.set_led(LEFT_LINE, line)
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self.set_led(LEFT_LINE, line)
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last_line = LEFT
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last_line = LEFT
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return line
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return line
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elif dir == RIGHT:
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elif dir == RIGHT:
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line = abs(self.get_line(RIGHT) - self.config["right_line_threshold"]) > 1000
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line = abs(self.get_line(RIGHT) - self.config["right_line_value"]) > self.config["right_line_threshold"]
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self.set_led(RIGHT_LINE, line)
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self.set_led(RIGHT_LINE, line)
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last_line = RIGHT
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last_line = RIGHT
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return line
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return line
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10
main.py
10
main.py
@ -88,9 +88,13 @@ def ws_handler():
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sumorobot.move(STOP)
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sumorobot.move(STOP)
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# for terminating delays in code
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# for terminating delays in code
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sumorobot.terminate = True
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sumorobot.terminate = True
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elif b'calibrate_line' in data:
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elif b'calibrate_line_value' in data:
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sumorobot.calibrate_line()
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sumorobot.calibrate_line_value()
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#print('main.py: calibrate_line')
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#print('main.py: calibrate_line_value')
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elif b'calibrate_line_threshold' in data:
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data = ujson.loads(data)
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sumorobot.calibrate_line_threshold(int(data['val']))
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#print('main.py: calibrate_line_threshold')
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elif b'Gone' in data:
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elif b'Gone' in data:
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print("main.py: server said 410 Gone, attempting to reconnect...")
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print("main.py: server said 410 Gone, attempting to reconnect...")
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#conn = uwebsockets.connect(url)
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#conn = uwebsockets.connect(url)
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