153 lines
5.5 KiB
Python
153 lines
5.5 KiB
Python
from random import randint
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from kuukar.kuukar_config import MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F, MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R, TURN_TIME_FS_90DEG_MS
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import time
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from kuukar.kuukar_leds import leds
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from kuukar.kuukar_sensors import sensors
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from telemetrix_rpi_pico import telemetrix_rpi_pico
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import threading
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class motion:
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roaming = False
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def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, drv: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
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self.mcu = mcu
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self.drv = drv
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self.leds = leds
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self.sensors = sensors
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self.roam_thread = threading.Thread(target=self.__roam_looper)
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self.roam_thread.start()
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drive_pins = [MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F,
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MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R]
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for drive_pin in drive_pins:
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self.drv.set_pin_mode_pwm_output(drive_pin)
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def motor_write(self, forward_pin: int, reverse_pin: int, speed: int):
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if speed < 0:
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self.drv.pwm_write(forward_pin, 0)
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self.drv.pwm_write(reverse_pin, -int(speed))
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elif speed >= 0:
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self.drv.pwm_write(forward_pin, int(speed))
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self.drv.pwm_write(reverse_pin, 0)
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def drive(self, speed: int):
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self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
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self.motor_write(MOTOR_FR_F, MOTOR_FR_R, speed)
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self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
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self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
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def turn(self, speed: int, duration: float):
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if speed > 0:
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self.leds.set_left_signal_led(False)
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self.leds.set_right_signal_led(True)
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elif speed < 0:
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self.leds.set_left_signal_led(True)
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self.leds.set_right_signal_led(False)
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self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
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self.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
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self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
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self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
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time.sleep(duration/1000.0)
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self.stop()
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def turn_cont(self, speed: int):
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if speed > 0:
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self.leds.set_right_signal_led(True)
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self.leds.set_left_signal_led(False)
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elif speed < 0:
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self.leds.set_right_signal_led(False)
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self.leds.set_left_signal_led(True)
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self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
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self.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
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self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
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self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
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def drive_skew(self, speed: float, dir: float):
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if dir > 0:
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self.leds.set_right_signal_led(True)
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self.leds.set_left_signal_led(False)
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elif dir < 0:
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self.leds.set_right_signal_led(False)
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self.leds.set_left_signal_led(True)
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lm_speed = (100+dir/2)*speed/100
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if lm_speed>99:
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lm_speed = 99
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elif lm_speed<-99:
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lm_speed = -99
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rm_speed = (100-dir/2)*speed/100
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if rm_speed > 99:
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rm_speed = 99
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elif rm_speed < -99:
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rm_speed = -99;
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self.motor_write(MOTOR_FL_F, MOTOR_FL_R, lm_speed)
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self.motor_write(MOTOR_FR_F, MOTOR_FR_R, rm_speed)
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self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed)
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self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed)
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def stop(self):
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self.leds.set_left_signal_led(False)
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self.leds.set_right_signal_led(False)
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self.leds.set_reverse_led(False)
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self.drive(0)
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def roam_start(self):
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self.drive(25)
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self.roaming = True
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def roam_stop(self):
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self.roaming = False
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time.sleep(0.5)
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self.stop()
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def is_roaming(self) -> bool:
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return self.roaming
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def __roam_looper(self):
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while True:
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if self.roaming:
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self.__roam_handle()
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time.sleep(0.3)
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def __roam_handle(self):
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sensitivity = 35
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turn_speed = 40
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drive_speed = 25
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f_dist = self.sensors.sonar_get_distance(1)
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if 0 < f_dist < sensitivity: # Close to collision, turn the vehicle
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print("collision")
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self.drive(-drive_speed)
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time.sleep(0.75)
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self.stop()
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l_dist = self.sensors.sonar_get_distance(0)
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r_dist = self.sensors.sonar_get_distance(2)
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if l_dist < sensitivity: # Left side is blocked
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if r_dist < sensitivity: # Both side are blocked, do a full 180deg turn
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print("full turn")
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self.turn(30, 2)
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self.drive(23)
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else:
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# Right Side is Free, turn right
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print("right turn")
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self.turn(turn_speed, 1)
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self.drive(drive_speed)
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elif r_dist < sensitivity: # Right side is blocked, left side is free, turn left
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print("right left")
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self.turn(-turn_speed, 1)
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self.drive(drive_speed)
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else: # Both Side are free, randomize a direction
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print("turn random")
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right: bool = randint(0, 1)
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if right:
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self.turn(turn_speed, 1)
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self.drive(drive_speed)
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else:
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self.turn(-turn_speed, 1)
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self.drive(drive_speed)
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if not self.roaming:
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self.stop() |