Update documentation
This commit is contained in:
Konstantin Lampalzer
parent
739b86c1f2
commit
43ec20e38a
3 changed files with 116 additions and 132 deletions
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@ -8,82 +8,74 @@ Simple Linefollower
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.. code-block:: python
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from compLib.Motor import Motor
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from compLib.Display import Display
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from compLib.IRSensor import IRSensor
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from compLib.Encoder import Encoder
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import time
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from compLib.IRWrapper import IRWrapper
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from compLib.Motor import Motor
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IRSensor.set(1, True)
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IRSensor.set(2, True)
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IRSensor.set(3, True)
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IRSensor.set(4, True)
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IRSensor.set(5, True)
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STRAIGHT_SPEED = 40.0
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TURN_SPEED = 40.0
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DRIVE_SPEED = 85
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TURN_SPEED = 50
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COLOR_BREAK = 750
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KP = 50.0
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KD = 0.0
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COLOR_BREAK = 500
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def drive(leftSpeed, rightSpeed):
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leftSpeed *= -1
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rightSpeed *= 0.906
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Motor.power(1, min(max(-100, leftSpeed), 100))
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Motor.power(2, min(max(-100, rightSpeed), 100))
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def drive(left, right, active_break=False, back_mult=0.0):
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left = max(min(left, 100), -100)
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right = max(min(right, 100), -100)
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def follow(sleepTime = 0.1):
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lastError = 0
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sensorsBlack = 0
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while sensorsBlack < 3:
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sensorsBlack = 0
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for i in range(1, 6):
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if IRSensor.read(i) > COLOR_BREAK:
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sensorsBlack += 1
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print("left {} right {}".format(left, right))
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error = lastError
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if IRSensor.read(3) > COLOR_BREAK:
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error = 0
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elif IRSensor.read(1) > COLOR_BREAK:
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error = -1.5
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elif IRSensor.read(5) > COLOR_BREAK:
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error = 1.5
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elif IRSensor.read(2) > COLOR_BREAK:
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error = -1
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elif IRSensor.read(4) > COLOR_BREAK:
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error = 1
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elif error == 1.5:
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error = 3
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elif error == -1.5:
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error = -3
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lastError = error
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Motor.power(0, left)
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Motor.power(1, left * back_mult)
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Motor.power(2, right * back_mult)
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Motor.power(3, right)
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adjustment = KP * error + KD * (error - lastError)
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leftSpeed = DRIVE_SPEED + adjustment
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rightSpeed = DRIVE_SPEED - adjustment
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if active_break:
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time.sleep(0.001)
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Motor.power(0, 10)
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Motor.power(1, 10)
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Motor.power(2, 10)
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Motor.power(3, 10)
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time.sleep(0.001)
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def follow_till_line():
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while True:
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print("left: {:.2f} middle: {:.2f} right: {:.2f}".format(IRWrapper.bottom_left_calibrated(),
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IRWrapper.bottom_middle_calibrated(),
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IRWrapper.bottom_right_calibrated()))
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left = IRWrapper.bottom_left_calibrated()
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right = IRWrapper.bottom_right_calibrated()
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if left > COLOR_BREAK:
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drive(-TURN_SPEED, TURN_SPEED, back_mult=1.25)
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while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
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IRWrapper.bottom_right_calibrated() < COLOR_BREAK:
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pass
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drive(0, 0)
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elif right > COLOR_BREAK:
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drive(TURN_SPEED, -TURN_SPEED, back_mult=1.25)
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while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
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IRWrapper.bottom_left_calibrated() < COLOR_BREAK:
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pass
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drive(0, 0)
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else:
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drive(STRAIGHT_SPEED, STRAIGHT_SPEED, True)
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if IRWrapper.bottom_left_calibrated() > 750 and IRWrapper.bottom_right_calibrated() > 750:
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break
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print("left: {} middle: {} right: {}".format(IRWrapper.bottom_left_calibrated(),
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IRWrapper.bottom_middle_calibrated(),
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IRWrapper.bottom_right_calibrated()))
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print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
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drive(leftSpeed, rightSpeed)
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drive(0, 0)
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time.sleep(sleepTime)
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time.sleep(0.2)
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def main():
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follow()
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follow()
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follow()
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follow()
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follow(0.2)
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if __name__ == "__main__":
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# Put bot with middle sensor onto black line
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IRWrapper.calibrate()
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# Initialize Motors, so the bot doesn't speed off instantly
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drive(1, 1)
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time.sleep(1)
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# Follow line, till the left and right sensor are on black
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follow_till_line()
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main()
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@ -166,85 +166,77 @@
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<span id="lib-linefollower"></span><h1>Linefollower Examples<a class="headerlink" href="#linefollower-examples" title="Permalink to this headline">¶</a></h1>
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<div class="section" id="simple-linefollower">
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<h2>Simple Linefollower<a class="headerlink" href="#simple-linefollower" title="Permalink to this headline">¶</a></h2>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
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<span class="kn">from</span> <span class="nn">compLib.Display</span> <span class="kn">import</span> <span class="n">Display</span>
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<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
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<span class="kn">from</span> <span class="nn">compLib.IRWrapper</span> <span class="kn">import</span> <span class="n">IRWrapper</span>
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
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<span class="kn">import</span> <span class="nn">time</span>
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<span class="n">STRAIGHT_SPEED</span> <span class="o">=</span> <span class="mf">40.0</span>
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<span class="n">TURN_SPEED</span> <span class="o">=</span> <span class="mf">40.0</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">500</span>
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<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">85</span>
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<span class="n">TURN_SPEED</span> <span class="o">=</span> <span class="mi">50</span>
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<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">750</span>
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<span class="n">KP</span> <span class="o">=</span> <span class="mf">50.0</span>
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<span class="n">KD</span> <span class="o">=</span> <span class="mf">0.0</span>
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<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">leftSpeed</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">):</span>
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<span class="n">leftSpeed</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
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<span class="n">rightSpeed</span> <span class="o">*=</span> <span class="mf">0.906</span>
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<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">,</span> <span class="n">active_break</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">back_mult</span><span class="o">=</span><span class="mf">0.0</span><span class="p">):</span>
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<span class="n">left</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="nb">min</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="mi">100</span><span class="p">),</span> <span class="o">-</span><span class="mi">100</span><span class="p">)</span>
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<span class="n">right</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="nb">min</span><span class="p">(</span><span class="n">right</span><span class="p">,</span> <span class="mi">100</span><span class="p">),</span> <span class="o">-</span><span class="mi">100</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">leftSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="nb">max</span><span class="p">(</span><span class="o">-</span><span class="mi">100</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">),</span> <span class="mi">100</span><span class="p">))</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"left </span><span class="si">{}</span><span class="s2"> right </span><span class="si">{}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">))</span>
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<span class="k">def</span> <span class="nf">follow</span><span class="p">(</span><span class="n">sleepTime</span> <span class="o">=</span> <span class="mf">0.1</span><span class="p">):</span>
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<span class="n">lastError</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="n">sensorsBlack</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="k">while</span> <span class="n">sensorsBlack</span> <span class="o"><</span> <span class="mi">3</span><span class="p">:</span>
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<span class="n">sensorsBlack</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">6</span><span class="p">):</span>
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<span class="k">if</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="n">i</span><span class="p">)</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">sensorsBlack</span> <span class="o">+=</span> <span class="mi">1</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">left</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">left</span> <span class="o">*</span> <span class="n">back_mult</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="n">right</span> <span class="o">*</span> <span class="n">back_mult</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">right</span><span class="p">)</span>
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<span class="n">error</span> <span class="o">=</span> <span class="n">lastError</span>
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<span class="k">if</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="k">elif</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.5</span>
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<span class="k">elif</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="mf">1.5</span>
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<span class="k">elif</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>
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<span class="k">elif</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="mi">1</span>
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<span class="k">elif</span> <span class="n">error</span> <span class="o">==</span> <span class="mf">1.5</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="mi">3</span>
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<span class="k">elif</span> <span class="n">error</span> <span class="o">==</span> <span class="o">-</span><span class="mf">1.5</span><span class="p">:</span>
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<span class="n">error</span> <span class="o">=</span> <span class="o">-</span><span class="mi">3</span>
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<span class="k">if</span> <span class="n">active_break</span><span class="p">:</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.001</span><span class="p">)</span>
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<span class="n">lastError</span> <span class="o">=</span> <span class="n">error</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
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<span class="n">adjustment</span> <span class="o">=</span> <span class="n">KP</span> <span class="o">*</span> <span class="n">error</span> <span class="o">+</span> <span class="n">KD</span> <span class="o">*</span> <span class="p">(</span><span class="n">error</span> <span class="o">-</span> <span class="n">lastError</span><span class="p">)</span>
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<span class="n">leftSpeed</span> <span class="o">=</span> <span class="n">DRIVE_SPEED</span> <span class="o">+</span> <span class="n">adjustment</span>
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<span class="n">rightSpeed</span> <span class="o">=</span> <span class="n">DRIVE_SPEED</span> <span class="o">-</span> <span class="n">adjustment</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.001</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">follow_till_line</span><span class="p">():</span>
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<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"left: </span><span class="si">{:.2f}</span><span class="s2"> middle: </span><span class="si">{:.2f}</span><span class="s2"> right: </span><span class="si">{:.2f}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">(),</span>
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<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">(),</span>
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<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()))</span>
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<span class="n">left</span> <span class="o">=</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">()</span>
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<span class="n">right</span> <span class="o">=</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()</span>
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<span class="k">if</span> <span class="n">left</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="n">drive</span><span class="p">(</span><span class="o">-</span><span class="n">TURN_SPEED</span><span class="p">,</span> <span class="n">TURN_SPEED</span><span class="p">,</span> <span class="n">back_mult</span><span class="o">=</span><span class="mf">1.25</span><span class="p">)</span>
|
||||
<span class="k">while</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">()</span> <span class="o"><</span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> \
|
||||
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()</span> <span class="o"><</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
|
||||
<span class="k">pass</span>
|
||||
<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
||||
<span class="k">elif</span> <span class="n">right</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
|
||||
<span class="n">drive</span><span class="p">(</span><span class="n">TURN_SPEED</span><span class="p">,</span> <span class="o">-</span><span class="n">TURN_SPEED</span><span class="p">,</span> <span class="n">back_mult</span><span class="o">=</span><span class="mf">1.25</span><span class="p">)</span>
|
||||
<span class="k">while</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">()</span> <span class="o"><</span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> \
|
||||
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">()</span> <span class="o"><</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
|
||||
<span class="k">pass</span>
|
||||
<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
||||
<span class="k">else</span><span class="p">:</span>
|
||||
<span class="n">drive</span><span class="p">(</span><span class="n">STRAIGHT_SPEED</span><span class="p">,</span> <span class="n">STRAIGHT_SPEED</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
|
||||
|
||||
<span class="k">if</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">()</span> <span class="o">></span> <span class="mi">750</span> <span class="ow">and</span> <span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()</span> <span class="o">></span> <span class="mi">750</span><span class="p">:</span>
|
||||
<span class="k">break</span>
|
||||
|
||||
<span class="nb">print</span><span class="p">(</span><span class="s2">"left: </span><span class="si">{}</span><span class="s2"> middle: </span><span class="si">{}</span><span class="s2"> right: </span><span class="si">{}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_left_calibrated</span><span class="p">(),</span>
|
||||
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_middle_calibrated</span><span class="p">(),</span>
|
||||
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">bottom_right_calibrated</span><span class="p">()))</span>
|
||||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"</span><span class="si">{</span><span class="n">leftSpeed</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">rightSpeed</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">adjustment</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">error</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
|
||||
<span class="n">drive</span><span class="p">(</span><span class="n">leftSpeed</span><span class="p">,</span> <span class="n">rightSpeed</span><span class="p">)</span>
|
||||
|
||||
<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
|
||||
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="n">sleepTime</span><span class="p">)</span>
|
||||
|
||||
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.2</span><span class="p">)</span>
|
||||
<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
|
||||
<span class="n">follow</span><span class="p">()</span>
|
||||
<span class="n">follow</span><span class="p">()</span>
|
||||
<span class="n">follow</span><span class="p">()</span>
|
||||
<span class="n">follow</span><span class="p">()</span>
|
||||
<span class="n">follow</span><span class="p">(</span><span class="mf">0.2</span><span class="p">)</span>
|
||||
|
||||
|
||||
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">"__main__"</span><span class="p">:</span>
|
||||
<span class="c1"># Put bot with middle sensor onto black line</span>
|
||||
<span class="n">IRWrapper</span><span class="o">.</span><span class="n">calibrate</span><span class="p">()</span>
|
||||
|
||||
<span class="c1"># Initialize Motors, so the bot doesn't speed off instantly</span>
|
||||
<span class="n">drive</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
|
||||
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
|
||||
|
||||
<span class="c1"># Follow line, till the left and right sensor are on black</span>
|
||||
<span class="n">follow_till_line</span><span class="p">()</span>
|
||||
<span class="n">main</span><span class="p">()</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
|
|
|
|||
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Reference in a new issue