89 lines
2.7 KiB
ReStructuredText
89 lines
2.7 KiB
ReStructuredText
.. _lib_Linefollower:
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Linefollower Examples
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*********************
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Simple Linefollower
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-------------------------
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.. code-block:: python
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import time
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from IRWrapper import IRWrapper
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from compLib.Motor import Motor
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STRAIGHT_SPEED = 40.0
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TURN_SPEED = 40.0
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COLOR_BREAK = 500
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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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print("left {} right {}".format(left, right))
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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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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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drive(0, 0)
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time.sleep(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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