From 9a42d3b9bff5052a70e808880470fd656c4edbe8 Mon Sep 17 00:00:00 2001 From: Konstantin Lampalzer Date: Sun, 28 Mar 2021 16:37:43 +0200 Subject: [PATCH] Update documentation --- _sources/lib/IRWrapper.rst.txt | 22 +++ _sources/lib/Linefollower.rst.txt | 89 +++++++++ genindex.html | 25 +++ index.html | 13 ++ lib/Api.html | 2 + lib/Battery.html | 2 + lib/Buzzer.html | 2 + lib/IRSensor.html | 6 +- lib/IRWrapper.html | 313 ++++++++++++++++++++++++++++++ lib/Linefollower.html | 309 +++++++++++++++++++++++++++++ lib/Logging.html | 6 +- lib/Motor.html | 2 + lib/Servo.html | 2 + lib/Vision.html | 2 + objects.inv | Bin 815 -> 929 bytes other/usage.html | 2 + search.html | 2 + searchindex.js | 2 +- 18 files changed, 796 insertions(+), 5 deletions(-) create mode 100644 _sources/lib/IRWrapper.rst.txt create mode 100644 _sources/lib/Linefollower.rst.txt create mode 100644 lib/IRWrapper.html create mode 100644 lib/Linefollower.html diff --git a/_sources/lib/IRWrapper.rst.txt b/_sources/lib/IRWrapper.rst.txt new file mode 100644 index 0000000..15232a7 --- /dev/null +++ b/_sources/lib/IRWrapper.rst.txt @@ -0,0 +1,22 @@ +.. _lib_irwrapper: + +Infrared Wrapper +**************** + +.. autoclass:: compLib.IRWrapper.IRWrapper + :members: + +Examples +========= + +Calibrating analog sensors +-------------------------- + +.. code-block:: python + + from compLib import IRWrapper + + ir = IRWrapper.IRWrapper() + + ir.calibrate() + print("left {} middle {} right {}".format(ir.bottom_left_calibrated(), ir.bottom_middle_calibrated(), ir.bottom_right_calibrated())) diff --git a/_sources/lib/Linefollower.rst.txt b/_sources/lib/Linefollower.rst.txt new file mode 100644 index 0000000..407d349 --- /dev/null +++ b/_sources/lib/Linefollower.rst.txt @@ -0,0 +1,89 @@ +.. _lib_Linefollower: + +Linefollower Examples +********************* + +Simple Linefollower +------------------------- + +.. code-block:: python + + import time + + from IRWrapper import IRWrapper + from compLib.Motor import Motor + + STRAIGHT_SPEED = 40.0 + TURN_SPEED = 40.0 + + COLOR_BREAK = 500 + + + def drive(left, right, active_break=False, back_mult=0.0): + left = max(min(left, 100), -100) + right = max(min(right, 100), -100) + + print("left {} right {}".format(left, right)) + + Motor.power(0, left) + Motor.power(1, left * back_mult) + Motor.power(2, right * back_mult) + Motor.power(3, right) + + 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())) + + drive(0, 0) + + time.sleep(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() diff --git a/genindex.html b/genindex.html index 75902e4..c51a6b6 100644 --- a/genindex.html +++ b/genindex.html @@ -86,6 +86,8 @@
  • Battery
  • Buzzer
  • Infrared Sensor
    • +
  • Infrared Wrapper
    • +
  • Linefollower Examples
  • Logging
  • Motor
  • Servo
    • @@ -160,6 +162,7 @@ _ | A | B + | C | D | G | I @@ -180,6 +183,10 @@

    A

    +
    +

    C

    + + +
    +

    D

    +
  • Infrared Wrapper +
    • +
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  • Logging
    • +
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    • +
  • Linefollower Examples
  • Logging
  • Motor
  • Servo
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  • Battery
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  • Infrared Sensor
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