k-space/sumorobot-firmware
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fix move search

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This commit is contained in:
Silver Kuusik 2018-09-01 09:20:45 +02:00
parent 3b94238c52
commit e05f15faf5
1 changed files with 23 additions and 18 deletions
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41
hal.py
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@ -32,7 +32,7 @@ class Sumorobot(object):
self.pwm_right = PWM(Pin(4), freq=50, duty=0) self.pwm_right = PWM(Pin(4), freq=50, duty=0)
# Bottom status LED # Bottom status LED
self.status_led = Pin(self.config["status_led"], Pin.OUT) self.status_led = Pin(self.config["status_led_pin"], Pin.OUT)
# Bottom status LED is in reverse polarity # Bottom status LED is in reverse polarity
self.status_led.value(1) self.status_led.value(1)
# Sensor LEDs # Sensor LEDs
@ -98,7 +98,8 @@ class Sumorobot(object):
if self.move_counter > 0: if self.move_counter > 0:
self.move_counter -= 1 self.move_counter -= 1
if self.bat_status < bat - 0.20 and self.move_counter == 0: if self.bat_status < bat - 0.20 and self.move_counter == 0:
deepsleep() #deepsleep()
pass
self.bat_status = bat self.bat_status = bat
else: else:
self.move_counter = 10 self.move_counter = 10
@ -116,7 +117,7 @@ class Sumorobot(object):
return (time_pulse_us(self.echo, 1, 30000) / 2) / 29.1 return (time_pulse_us(self.echo, 1, 30000) / 2) / 29.1
# Function to get boolean if there is something in front of the SumoRobot # Function to get boolean if there is something in front of the SumoRobot
def is_opponent(self, block_id = None): def is_opponent(self):
# Get the opponent distance # Get the opponent distance
self.opponent_distance = self.get_opponent_distance() self.opponent_distance = self.get_opponent_distance()
# When the opponent is close and the ping actually returned # When the opponent is close and the ping actually returned
@ -152,8 +153,8 @@ class Sumorobot(object):
# Function to get light inensity from the phototransistors # Function to get light inensity from the phototransistors
def get_line(self, dir): def get_line(self, dir):
# Check for valid direction # Check if the direction is valid
assert dir == LEFT or dir == RIGHT assert dir in (LEFT, RIGHT)
# Return the given line sensor value # Return the given line sensor value
if dir == LEFT: if dir == LEFT:
@ -161,9 +162,9 @@ class Sumorobot(object):
elif dir == RIGHT: elif dir == RIGHT:
return self.adc_line_right.read() return self.adc_line_right.read()
def is_line(self, dir, block_id = None): def is_line(self, dir):
# Check for valid direction # Check if the direction is valid
assert dir == LEFT or dir == RIGHT assert dir in (LEFT, RIGHT)
# Return the given line sensor value # Return the given line sensor value
if dir == LEFT: if dir == LEFT:
@ -176,9 +177,9 @@ class Sumorobot(object):
return line return line
def set_servo(self, dir, speed): def set_servo(self, dir, speed):
# Check for valid direction # Check if the direction is valid
assert dir == LEFT or dir == RIGHT assert dir in (LEFT, RIGHT)
# Check for valid speed # Check if the speed is valid
assert speed <= 100 and speed >= -100 assert speed <= 100 and speed >= -100
# When the speed didn't change # When the speed didn't change
@ -202,9 +203,9 @@ class Sumorobot(object):
# -100 ... 100 to 33 .. 102 # -100 ... 100 to 33 .. 102
self.pwm_right.duty(int(33 + self.config["right_servo_tuning"] + speed * 33 / 100)) self.pwm_right.duty(int(33 + self.config["right_servo_tuning"] + speed * 33 / 100))
def move(self, dir, block_id = None): def move(self, dir):
# Check for valid direction # Check if the direction is valid
assert dir == STOP or dir == RIGHT or dir == LEFT or dir == BACKWARD or dir == FORWARD assert dir in (SEARCH, STOP, RIGHT, LEFT, BACKWARD, FORWARD)
# Go to the given direction # Go to the given direction
if dir == STOP: if dir == STOP:
@ -221,11 +222,15 @@ class Sumorobot(object):
if self.search_counter == 50: if self.search_counter == 50:
self.search = not self.search self.search = not self.search
self.search_counter = 0 self.search_counter = 0
# When to search # When in search mode
if self.search: if self.search:
self.move(FORWARD) # Go forward
self.set_servo(LEFT, 100)
self.set_servo(RIGHT, -100)
else: else:
self.move(LEFT) # Go left
self.set_servo(LEFT, -100)
self.set_servo(RIGHT, -100)
# Increase search counter # Increase search counter
self.search_counter += 1 self.search_counter += 1
elif dir == FORWARD: elif dir == FORWARD:
@ -235,7 +240,7 @@ class Sumorobot(object):
self.set_servo(LEFT, -100) self.set_servo(LEFT, -100)
self.set_servo(RIGHT, 100) self.set_servo(RIGHT, 100)
def sleep(self, delay, block_id = None): def sleep(self, delay):
# Check for valid delay # Check for valid delay
assert delay > 0 assert delay > 0