|
1 | 1 | from arduino_alvik import ArduinoAlvik
|
2 | 2 | from time import sleep_ms
|
3 | 3 |
|
| 4 | +from line_follower import run_line_follower |
| 5 | +from touch_move import run_touch_move |
| 6 | +from hand_follower import run_hand_follower |
4 | 7 |
|
5 |
| -def blink(alvik): |
6 |
| - alvik.left_led.set_color(1, 0, 1) |
7 |
| - alvik.right_led.set_color(1, 0, 1) |
8 |
| - sleep_ms(200) |
9 |
| - alvik.left_led.set_color(1, 0, 0) |
10 |
| - alvik.right_led.set_color(1, 0, 0) |
11 | 8 |
|
| 9 | +alvik = ArduinoAlvik() |
| 10 | +alvik.begin() |
12 | 11 |
|
13 |
| -def add_movement(alvik, movements): |
14 |
| - if alvik.get_touch_up(): |
15 |
| - movements.append('forward') |
16 |
| - blink(alvik) |
17 |
| - while alvik.get_touch_up(): |
18 |
| - sleep_ms(100) |
19 |
| - if alvik.get_touch_down(): |
20 |
| - movements.append('backward') |
21 |
| - blink(alvik) |
22 |
| - while alvik.get_touch_down(): |
23 |
| - sleep_ms(100) |
24 |
| - if alvik.get_touch_left(): |
25 |
| - movements.append('left') |
26 |
| - blink(alvik) |
27 |
| - while alvik.get_touch_left(): |
28 |
| - sleep_ms(100) |
29 |
| - if alvik.get_touch_right(): |
30 |
| - movements.append('right') |
31 |
| - blink(alvik) |
32 |
| - while alvik.get_touch_right(): |
33 |
| - sleep_ms(100) |
34 |
| - if alvik.get_touch_cancel(): |
35 |
| - movements = [] |
36 |
| - for i in range(0, 3): |
37 |
| - val = i % 2 |
38 |
| - alvik.left_led.set_color(val, 0, 0) |
39 |
| - alvik.right_led.set_color(val, 0, 0) |
40 |
| - sleep_ms(200) |
41 |
| - while alvik.get_touch_cancel(): |
42 |
| - sleep_ms(100) |
| 12 | +menu_status = 0 |
43 | 13 |
|
44 | 14 |
|
45 |
| -def run_movement(alvik, movement): |
46 |
| - if movement == 'forward': |
47 |
| - alvik.move(10, blocking=False) |
48 |
| - if movement == 'backward': |
49 |
| - alvik.move(-10, blocking=False) |
50 |
| - if movement == 'left': |
51 |
| - alvik.rotate(90, blocking=False) |
52 |
| - if movement == 'right': |
53 |
| - alvik.rotate(-90, blocking=False) |
54 |
| - while not alvik.get_touch_cancel() and not alvik.is_target_reached(): |
| 15 | +def update_led_status(val): |
| 16 | + if val == 0: |
| 17 | + alvik.left_led.set_color(0, 0, 1) |
| 18 | + alvik.right_led.set_color(0, 0, 1) |
| 19 | + elif val == 1: |
| 20 | + alvik.left_led.set_color(0, 1, 0) |
| 21 | + alvik.right_led.set_color(0, 1, 0) |
| 22 | + elif val == -1: |
55 | 23 | alvik.left_led.set_color(1, 0, 0)
|
56 | 24 | alvik.right_led.set_color(1, 0, 0)
|
57 |
| - sleep_ms(100) |
58 |
| - alvik.left_led.set_color(0, 0, 0) |
59 |
| - alvik.right_led.set_color(0, 0, 0) |
60 |
| - sleep_ms(100) |
61 | 25 |
|
62 | 26 |
|
63 |
| -def run_touch_move(alvik) -> int: |
64 |
| - movements = [] |
65 |
| - while not (alvik.get_touch_ok() and len(movements) != 0): |
66 |
| - if alvik.get_touch_cancel(): |
67 |
| - movements.clear() |
68 |
| - blink(alvik) |
69 |
| - return -1 |
70 |
| - alvik.left_led.set_color(1, 0, 0) |
71 |
| - alvik.right_led.set_color(1, 0, 0) |
72 |
| - alvik.brake() |
73 |
| - add_movement(alvik, movements) |
74 |
| - sleep_ms(100) |
75 |
| - |
76 |
| - alvik.left_led.set_color(0, 0, 0) |
77 |
| - alvik.right_led.set_color(0, 0, 0) |
78 |
| - for move in movements: |
79 |
| - run_movement(alvik, move) |
80 |
| - if alvik.get_touch_cancel(): |
81 |
| - blink(alvik) |
82 |
| - return -1 |
83 |
| - return 1 |
| 27 | +while True: |
84 | 28 |
|
| 29 | + update_led_status(menu_status) |
85 | 30 |
|
86 |
| -if __name__ == "__main__": |
87 |
| - alvik = ArduinoAlvik() |
88 |
| - alvik.begin() |
| 31 | + try: |
89 | 32 |
|
90 |
| - alvik.left_led.set_color(1, 0, 0) |
91 |
| - alvik.right_led.set_color(1, 0, 0) |
| 33 | + if alvik.get_touch_ok(): |
| 34 | + while not alvik.get_touch_cancel(): |
| 35 | + if menu_status == 0: |
| 36 | + run_line_follower(alvik) |
| 37 | + elif menu_status == 1: |
| 38 | + run_hand_follower(alvik) |
| 39 | + elif menu_status == -1: |
| 40 | + if run_touch_move(alvik) < 0: |
| 41 | + break |
| 42 | + alvik.brake() |
92 | 43 |
|
93 |
| - while True: |
94 |
| - try: |
| 44 | + if alvik.get_touch_up() and menu_status < 1: |
| 45 | + menu_status += 1 |
| 46 | + update_led_status(menu_status) |
| 47 | + while alvik.get_touch_up(): |
| 48 | + sleep_ms(100) |
| 49 | + if alvik.get_touch_down() and menu_status > -1: |
| 50 | + menu_status -= 1 |
| 51 | + update_led_status(menu_status) |
| 52 | + while alvik.get_touch_down(): |
| 53 | + sleep_ms(100) |
95 | 54 |
|
96 |
| - run_touch_move(alvik) |
| 55 | + sleep_ms(100) |
97 | 56 |
|
98 |
| - except KeyboardInterrupt as e: |
99 |
| - print('over') |
100 |
| - alvik.stop() |
101 |
| - break |
| 57 | + except KeyboardInterrupt as e: |
| 58 | + print('over') |
| 59 | + alvik.stop() |
| 60 | + break |
0 commit comments