From 43ec20e38aed950af71e6f007ecbe9facb563d98 Mon Sep 17 00:00:00 2001 From: Konstantin Lampalzer Date: Tue, 14 Sep 2021 18:35:05 +0200 Subject: [PATCH] Update documentation --- _sources/lib/Linefollower.rst.txt | 124 ++++++++++++++---------------- lib/Linefollower.html | 122 ++++++++++++++--------------- searchindex.js | 2 +- 3 files changed, 116 insertions(+), 132 deletions(-) diff --git a/_sources/lib/Linefollower.rst.txt b/_sources/lib/Linefollower.rst.txt index 8918554..48fe4d3 100644 --- a/_sources/lib/Linefollower.rst.txt +++ b/_sources/lib/Linefollower.rst.txt @@ -8,82 +8,74 @@ Simple Linefollower .. code-block:: python + from compLib.Motor import Motor + from compLib.Display import Display + from compLib.IRSensor import IRSensor + from compLib.Encoder import Encoder + import time - from compLib.IRWrapper import IRWrapper - from compLib.Motor import Motor + IRSensor.set(1, True) + IRSensor.set(2, True) + IRSensor.set(3, True) + IRSensor.set(4, True) + IRSensor.set(5, True) - STRAIGHT_SPEED = 40.0 - TURN_SPEED = 40.0 + DRIVE_SPEED = 85 + TURN_SPEED = 50 + COLOR_BREAK = 750 + KP = 50.0 + KD = 0.0 - COLOR_BREAK = 500 + def drive(leftSpeed, rightSpeed): + leftSpeed *= -1 + rightSpeed *= 0.906 + Motor.power(1, min(max(-100, leftSpeed), 100)) + Motor.power(2, min(max(-100, rightSpeed), 100)) - def drive(left, right, active_break=False, back_mult=0.0): - left = max(min(left, 100), -100) - right = max(min(right, 100), -100) + def follow(sleepTime = 0.1): + lastError = 0 + sensorsBlack = 0 + while sensorsBlack < 3: + sensorsBlack = 0 + for i in range(1, 6): + if IRSensor.read(i) > COLOR_BREAK: + sensorsBlack += 1 - print("left {} right {}".format(left, right)) + error = lastError + if IRSensor.read(3) > COLOR_BREAK: + error = 0 + elif IRSensor.read(1) > COLOR_BREAK: + error = -1.5 + elif IRSensor.read(5) > COLOR_BREAK: + error = 1.5 + elif IRSensor.read(2) > COLOR_BREAK: + error = -1 + elif IRSensor.read(4) > COLOR_BREAK: + error = 1 + elif error == 1.5: + error = 3 + elif error == -1.5: + error = -3 + + lastError = error - Motor.power(0, left) - Motor.power(1, left * back_mult) - Motor.power(2, right * back_mult) - Motor.power(3, right) + adjustment = KP * error + KD * (error - lastError) + leftSpeed = DRIVE_SPEED + adjustment + rightSpeed = DRIVE_SPEED - adjustment - if active_break: - time.sleep(0.001) - - Motor.power(0, 10) - Motor.power(1, 10) - Motor.power(2, 10) - Motor.power(3, 10) - - time.sleep(0.001) - - - def follow_till_line(): - while True: - print("left: {:.2f} middle: {:.2f} right: {:.2f}".format(IRWrapper.bottom_left_calibrated(), - IRWrapper.bottom_middle_calibrated(), - IRWrapper.bottom_right_calibrated())) - - left = IRWrapper.bottom_left_calibrated() - right = IRWrapper.bottom_right_calibrated() - - if left > COLOR_BREAK: - drive(-TURN_SPEED, TURN_SPEED, back_mult=1.25) - while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \ - IRWrapper.bottom_right_calibrated() < COLOR_BREAK: - pass - drive(0, 0) - elif right > COLOR_BREAK: - drive(TURN_SPEED, -TURN_SPEED, back_mult=1.25) - while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \ - IRWrapper.bottom_left_calibrated() < COLOR_BREAK: - pass - drive(0, 0) - else: - drive(STRAIGHT_SPEED, STRAIGHT_SPEED, True) - - if IRWrapper.bottom_left_calibrated() > 750 and IRWrapper.bottom_right_calibrated() > 750: - break - - print("left: {} middle: {} right: {}".format(IRWrapper.bottom_left_calibrated(), - IRWrapper.bottom_middle_calibrated(), - IRWrapper.bottom_right_calibrated())) + print(f"{leftSpeed} {rightSpeed} {adjustment} {error}") + drive(leftSpeed, rightSpeed) drive(0, 0) + time.sleep(sleepTime) - time.sleep(0.2) + def main(): + follow() + follow() + follow() + follow() + follow(0.2) - - if __name__ == "__main__": - # Put bot with middle sensor onto black line - IRWrapper.calibrate() - - # Initialize Motors, so the bot doesn't speed off instantly - drive(1, 1) - time.sleep(1) - - # Follow line, till the left and right sensor are on black - follow_till_line() + main() \ No newline at end of file diff --git a/lib/Linefollower.html b/lib/Linefollower.html index b38ff76..b214ea0 100644 --- a/lib/Linefollower.html +++ b/lib/Linefollower.html @@ -166,85 +166,77 @@

Linefollower Examples

Simple Linefollower

-
import time
+
from compLib.Motor import Motor
+from compLib.Display import Display
+from compLib.IRSensor import IRSensor
+from compLib.Encoder import Encoder
 
-from compLib.IRWrapper import IRWrapper
-from compLib.Motor import Motor
+import time
 
-STRAIGHT_SPEED = 40.0
-TURN_SPEED = 40.0
+IRSensor.set(1, True)
+IRSensor.set(2, True)
+IRSensor.set(3, True)
+IRSensor.set(4, True)
+IRSensor.set(5, True)
 
-COLOR_BREAK = 500
+DRIVE_SPEED = 85
+TURN_SPEED = 50
+COLOR_BREAK = 750
+KP = 50.0
+KD = 0.0
 
+def drive(leftSpeed, rightSpeed):
+    leftSpeed *= -1
+    rightSpeed *= 0.906
 
-def drive(left, right, active_break=False, back_mult=0.0):
-    left = max(min(left, 100), -100)
-    right = max(min(right, 100), -100)
+    Motor.power(1, min(max(-100, leftSpeed), 100))
+    Motor.power(2, min(max(-100, rightSpeed), 100))
 
-    print("left {} right {}".format(left, right))
+def follow(sleepTime = 0.1):
+    lastError = 0
+    sensorsBlack = 0
+    while sensorsBlack < 3:
+        sensorsBlack = 0
+        for i in range(1, 6):
+            if IRSensor.read(i) > COLOR_BREAK:
+                sensorsBlack += 1
 
-    Motor.power(0, left)
-    Motor.power(1, left * back_mult)
-    Motor.power(2, right * back_mult)
-    Motor.power(3, right)
+        error = lastError
+        if IRSensor.read(3) > COLOR_BREAK:
+            error = 0
+        elif IRSensor.read(1) > COLOR_BREAK:
+            error = -1.5
+        elif IRSensor.read(5) > COLOR_BREAK:
+            error = 1.5
+        elif IRSensor.read(2) > COLOR_BREAK:
+            error = -1
+        elif IRSensor.read(4) > COLOR_BREAK:
+            error = 1
+        elif error == 1.5:
+            error = 3
+        elif error == -1.5:
+            error = -3
 
-    if active_break:
-        time.sleep(0.001)
+        lastError = error
 
-        Motor.power(0, 10)
-        Motor.power(1, 10)
-        Motor.power(2, 10)
-        Motor.power(3, 10)
+        adjustment = KP * error + KD * (error - lastError)
+        leftSpeed = DRIVE_SPEED + adjustment
+        rightSpeed = DRIVE_SPEED - adjustment
 
-        time.sleep(0.001)
-
-
-def follow_till_line():
-    while True:
-        print("left: {:.2f}  middle: {:.2f}  right: {:.2f}".format(IRWrapper.bottom_left_calibrated(),
-                                                                   IRWrapper.bottom_middle_calibrated(),
-                                                                   IRWrapper.bottom_right_calibrated()))
-
-        left = IRWrapper.bottom_left_calibrated()
-        right = IRWrapper.bottom_right_calibrated()
-
-        if left > COLOR_BREAK:
-            drive(-TURN_SPEED, TURN_SPEED, back_mult=1.25)
-            while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
-                    IRWrapper.bottom_right_calibrated() < COLOR_BREAK:
-                pass
-            drive(0, 0)
-        elif right > COLOR_BREAK:
-            drive(TURN_SPEED, -TURN_SPEED, back_mult=1.25)
-            while IRWrapper.bottom_middle_calibrated() < COLOR_BREAK and \
-                    IRWrapper.bottom_left_calibrated() < COLOR_BREAK:
-                pass
-            drive(0, 0)
-        else:
-            drive(STRAIGHT_SPEED, STRAIGHT_SPEED, True)
-
-        if IRWrapper.bottom_left_calibrated() > 750 and IRWrapper.bottom_right_calibrated() > 750:
-            break
-
-    print("left: {}  middle: {}  right: {}".format(IRWrapper.bottom_left_calibrated(),
-                                                   IRWrapper.bottom_middle_calibrated(),
-                                                   IRWrapper.bottom_right_calibrated()))
+        print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
+        drive(leftSpeed, rightSpeed)
 
     drive(0, 0)
+    time.sleep(sleepTime)
 
-    time.sleep(0.2)
+def main():
+    follow()
+    follow()
+    follow()
+    follow()
+    follow(0.2)
 
-
-if __name__ == "__main__":
-    # Put bot with middle sensor onto black line
-    IRWrapper.calibrate()
-
-    # Initialize Motors, so the bot doesn't speed off instantly
-    drive(1, 1)
-    time.sleep(1)
-
-    # Follow line, till the left and right sensor are on black
-    follow_till_line()
+main()
diff --git a/searchindex.js b/searchindex.js index a2f2778..452a635 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ 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