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robot2.py
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# Copyright (C) 2105 wysiwyng
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
from sr import *
import serial, time, function, motor, lift, voltaged, debug, anticollisiond, configReader
d = debug.Debug()
ser = serial.Serial("/dev/ttyUSB0", 115200)
m = motor.Motor(ser)
m.init()
R = Robot()
d("declaring objects", "main")
tokens = [[0, 1, 2, 3, 4, 5],
[6, 7, 8, 9, 10, 11],
[12, 13, 14, 15, 16, 17],
[18, 19, 20, 21, 22, 23]]
nearPedestals = [0, 2, 8, 6]
leftPedestals = [[1, 2],
[5, 8],
[7, 6],
[3, 0]]
rightPedestals = [[3, 6],
[7, 8],
[5, 2],
[1, 0]]
homeMarker = [0, 21, 14, 7]
c = configReader.ConfigReader(R.usbkey, d)
v = voltaged.Voltaged(R, d)
l = lift.Lift(R)
f = function.Driver(R, motor, c.getMaxSpeed(), c.getDistModifier(), c.getDistModifierBegin(), (c.getCamResX(), c.getCamResY()))
a = anticollisiond.AntiCollisiond(R)
l.daemon = True
m.daemon = True
a.daemon = True
v.daemon = True
b = c.getTokenOrder()
command = c.getCommands()
maxSpeed = c.getMaxSpeed()
def capNearestPedestal(tOffset):
d("capturing nearest pedestal", "main")
d("driving to token {0}".format(tOffset), "main")
f.driveToMarker(MARKER_TOKEN, tokens[R.zone][tOffset])
m.driveForward(maxSpeed, 0, a.getUsDistance())
d("found token {0}, grabbing it".format(tOffset), "main")
l.grabToken(3)
m.driveBackward(maxSpeed, 0, 60)
time.sleep(0.2)
m.turnRight(maxSpeed - 20, 160)
d("taking the token to pedestal {0}".format(nearPedestals[R.zone]), "main")
f.driveToMarker(MARKER_PEDESTAL, nearPedestals[R.zone], direction = True)
m.driveForward(maxSpeed - 20, 0, a.getUsDistance() - 5)
d("planting token", "main")
time.sleep(0.5)
l.releaseToken()
time.sleep(0.5)
l.tokenHeightAsync()
m.driveBackward(maxSpeed, 0, 84)
time.sleep(0.2)
m.turnRight(maxSpeed - 20, 160)
nextToken = int(b.pop())
return nextToken
def capMiddleLeftPedestal(tOffset):
d("capturing middleleft Pedestal", "main")
nextToken = int(b.pop(0))
f.driveToMarker(MARKER_TOKEN, tokens[R.zone][tOffset])
m.driveForward(maxSpeed, 0, a.getUsDistance())
l.grabToken(3)
m.driveBackward(maxSpeed, 0, 60)
time.sleep(0.2)
if tOffset == 4:
m.driveForward(maxSpeed, 0, 10)
if tOffset == 5:
m.driveForward(maxSpeed, 0, 45)
if tOffset < 4:
m.driveBackward(maxSpeed, 0,155 - (40 * tOffset))
m.turnLeft(maxSpeed - 20, 120)
time.sleep(0.2)
res = f.driveToMarker(MARKER_PEDESTAL, leftPedestals[R.zone][0])
if f.lookForTokenAbove(res[0], res[1]):
l.top()
m.driveForward(maxSpeed - 20, a.getUsDistance() - 15)
else:
m.driveForward(maxSpeed - 20, a.getUsDistance() - 5)
d("planting token", "main")
time.sleep(0.5)
l.releaseToken()
time.sleep(0.5)
l.tokenHeightAsync()
m.driveBackward(maxSpeed, 0, 84)
time.sleep(0.2)
f.driveToFixpoint(MARKER_PEDESTAL, leftPedestals[R.zone][0])
m.turnLeft(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 100)
if nextToken < 4:
m.turnLeft(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 155 - (40 * nextToken))
m.turnRight(maxSpeed - 20, 90)
elif nextToken == 5:
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 45)
m.turnLeft(maxSpeed - 20, 90)
return nextToken
def capFarLeftPedestal(tOffset):
d("capturing farleft pedestal", "main")
nextToken = int(b.pop(0))
f.driveToMarker(MARKER_TOKEN, tokens[R.zone][tOffset])
m.driveForward(maxSpeed, 0, a.getUsDistance())
l.grabToken(3)
m.driveBackward(maxSpeed, 0, 60)
time.sleep(0.2)
arenaMarker = f.driveToFixpoint(MARKER_ARENA, homeMarker[R.zone])[0]
m.turnLeft(maxSpeed - 20, 180)
time.sleep(0.2)
m.driveForward(maxSpeed, 0, int(400 - arenaMarker.dist * 100))
time.sleep(0.2)
m.turnRight(maxSpeed - 20, 45)
res = f.driveToMarker(MARKER_PEDESTAL, leftPedestals[R.zone][1])
if f.lookForTokenAbove(res[0], res[1]):
l.top()
m.driveForward(maxSpeed - 20, a.getUsDistance() - 15)
else:
m.driveForward(maxSpeed - 20, a.getUsDistance() - 5)
d("planting token", "main")
time.sleep(0.5)
l.releaseToken()
time.sleep(0.5)
l.tokenHeightAsync()
m.driveBackward(maxSpeed, 0, 84)
f.driveToFixpoint(MARKER_PEDESTAL, leftPedestals[R.zone][1])
time.sleep(0.2)
m.turnLeft(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 100)
m.turnLeft(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 355 - (40 * (tOffset + 1)))
m.turnLeft(maxSpeed - 20, 44)
return nextToken
def capMiddleRightPedestal(tOffset):
d("capturing middle right pedestal", "main")
nextToken = int(b.pop(0))
f.driveToMarker(MARKER_TOKEN, tokens[R.zone][tOffset])
m.driveForward(maxSpeed, 0, a.getUsDistance())
l.grabToken(3)
m.driveBackward(maxSpeed, 0, 60)
m.turnLeft(maxSpeed - 20, 90)
arenaMarker = f.driveToFixpoint(MARKER_ARENA, homeMarker[R.zone])[0]
m.driveForward(maxSpeed, arenaMarker.dist * 100 - 100)
f.driveToFixpoint(MARKER_ARENA, homeMarker[R.zone])
m.turnLeft(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 100)
m.turnLeft(maxSpeed - 20, 45)
res = f.driveToMarker(MARKER_PEDESTAL, rightPedestals[R.zone][0], direction = "right")
if f.lookForTokenAbove(res[0], res[1]):
l.top()
m.driveForward(maxSpeed - 20, a.getUsDistance() - 15)
else:
m.driveForward(maxSpeed - 20, a.getUsDistance() - 5)
d("planting token", "main")
time.sleep(0.5)
l.releaseToken()
time.sleep(0.5)
m.driveBackward(maxSpeed, 0, 84)
l.tokenHeightAsync()
f.driveToFixpoint(MARKER_PEDESTAL, rightPedestals[R.zone][0])
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 100)
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 200)
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 45 + (nextToken * 40))
m.turnLeft(maxSpeed - 20, 90)
return nextToken
def capFarRightPedestal(tOffset):
d("capturing far right pedestal", "main")
nextToken = int(b.pop(0))
f.driveToMarker(MARKER_TOKEN, tokens[R.zone][tOffset])
m.driveForward(maxSpeed, 0, a.getUsDistance())
l.grabToken(3)
m.driveBackward(maxSpeed, 0, 60)
m.turnLeft(maxSpeed - 20, 90)
arenaMarker = f.driveToFixpoint(MARKER_ARENA, homeMarker[R.zone])[0]
m.driveForward(maxSpeed, 0, arenaMarker.dist * 100 - 100)
f.driveToFixpoint(MARKER_ARENA, homeMarker[R.zone])
m.turnLeft(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 300)
m.turnLeft(maxSpeed - 20, 45)
res = f.driveToMarker(MARKER_PEDESTAL, rightPedestals[R.zone][0], direction = "right")
if f.lookForTokenAbove(res[0], res[1]):
l.top()
m.driveForward(maxSpeed - 20, a.getUsDistance() - 15)
else:
m.driveForward(maxSpeed - 20, a.getUsDistance() - 5)
d("planting token", "main")
time.sleep(0.5)
l.releaseToken()
time.sleep(0.5)
m.driveBackward(maxSpeed, 0, 84)
l.tokenHeightAsync()
f.driveToFixpoint(MARKER_PEDESTAL, rightPedestals[R.zone][1])
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 100)
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 400)
m.turnRight(maxSpeed - 20, 90)
m.driveForward(maxSpeed, 0, 45 + (nextToken * 40))
m.turnLeft(maxSpeed - 20, 90)
return nextToken
def capCenterPedestal(tOffset):
d("capturing center pedestal", "main")
return 99999
def run():
nextToken = int(b.pop(0))
nextMove = command.pop(0)
while(True):
if nextMove == "far-right":
nextToken = capFarRightPedestal(nextToken)
nextMove = command.pop(0)
elif nextMove == "middle-right":
nextToken = capMiddleRightPedestal(nextToken)
nextMove = command.pop(0)
elif nextMove == "nearest": #center
nextToken = capNearestPedestal(nextToken)
nextMove = command.pop(0)
elif nextMove == "center":
nextToken = capCenterPedestal(nextToken)
nextMove = command.pop(0)
elif nextMove == "middle-left":
nextToken = capMiddleLeftPedestal(nextToken)
nextMove = command.pop(0)
elif nextMove == "far-left":
nextToken = capFarLeftPedestal(nextToken)
nextMove = command.pop(0)
d("starting threads", "main")
#voltaged.start()
l.start()
#motor.start()
#anticollisiond.start()
l.actionFinished.wait()
d.__init__()
d("starting action", "main")
run()