108 lines
4.0 KiB
Python
108 lines
4.0 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, driver_board: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
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self.driver = driver_board
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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.driver.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.driver.pwm_write(forward_pin, 0)
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self.driver.pwm_write(reverse_pin, -speed)
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elif speed >= 0:
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self.driver.pwm_write(forward_pin, speed)
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self.driver.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_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.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)
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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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elif speed < 0:
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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 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.roaming = True
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def roam_stop(self):
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self.roaming = False
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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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def __roam_handle(self):
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self.drive(50)
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f_dist = self.sensors.sonar_get_distance(2)
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if 0 < f_dist < 20: # Close to collision, turn the vehicle
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l_dist = self.sensors.sonar_get_distance
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r_dist = self.sensors.sonar_get_distance
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if l_dist < 20: # Left side is blocked
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if r_dist < 20: # Both side are blocked, do a full 180deg turn
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self.turn(100, 2*TURN_TIME_FS_90DEG_MS)
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self.drive(50)
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time.sleep(3)
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else:
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# Right Side is Free, turn right
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self.turn(100, TURN_TIME_FS_90DEG_MS)
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self.drive(50)
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time.sleep(3)
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elif r_dist < 20: # Right side is blocked, left side is free, turn left
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self.turn(-100, TURN_TIME_FS_90DEG_MS)
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else: # Both Side are free, randomize a direction
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right: bool = randint(0, 1)
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if right:
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self.turn(100, TURN_TIME_FS_90DEG_MS)
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self.drive(50)
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time.sleep(3)
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else:
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self.turn(-100, TURN_TIME_FS_90DEG_MS)
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self.drive(50)
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time.sleep(3)
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time.sleep(0.5)
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