Klasse "Robot"
Dies ist ein Beispiel für eine Bibliothek, die dir Grundfunktionen des Fahrens in objektorientierter Programmierung zeigt.
Die Funktion fahren(drive(self, s, dir_l, dir_r):
# import motor
from motor import Motor, BiMotor
from ultrasonic import utimeUltra
from infrared import IR
from servo import Servo
import utime, random
class Robot:
def'''Initialize __init__(self,the m1,class.
m2):
self.motor_left= BiMotor(m1)First # Initializing pins 11 and 12pin for left motor.motor, self.motor_right=f.ex. BiMotor(m2)12
#motor_right Initializing= pinsFirst 14 and 15pin for right motor.motor, f. ex 14
us = First pin for ultrasonic sensor, f. ex. 16
ir = Pin for IR-sensor
Motors and ultrasonic sensor must use consecutive pins.'''
def __init__(self,ml,mr,us,ir,s):
self.motor_left = BiMotor(ml)
self.motor_right = BiMotor(mr)
if us >= 0:
self.us = Ultra(us)
if ir >= 0:
self.ir = IR(ir,self)
if s >=0:
self.servo = Servo(s,self)
self.speed = 0
self.new_speed = 0
self.last_turn_right = random.randint(0,1) == 0
def drive(self, s, dir_l, dir_r):
'''This abstracted driving function is only called locally by the other functions with better names. '''
print("alte_G: ", self.speed, " neue G: ", self.new_speed)
self.motor_left.setForward(set_forward(dir_l)
self.motor_right.setForward(set_forward(dir_r)
if s > self.speed:
steps = 1
elif snew_speed < self.speed:
steps = -1
else:
steps = 1
for i in range(self.speed,s,self.new_speed,steps):
self.motor_left.setSpeed(set_speed(i)
self.motor_right.setSpeed(set_speed(i)
utime.sleep_ms(10+int(i/2))
self.speed = self.new_speed
def drive_instantly(self,dir_l,dir_r):
self.motor_left.set_forward(dir_l)
self.motor_right.set_forward(dir_r)
self.motor_left.set_speed(self.new_speed)
self.motor_right.set_speed(self.new_speed)
self.speed = self.new_speed
def set_speed(self,s):
'''Sets the new speed. Has to be set before
other driving functions when changing the speed of the robot. '''
self.new_speed = s
def straight(self,forward(self):
s):'''Drive forward. Speed has to be set before with set_speed()'''
self.drive(s,True, True)
def backwards(self,backward(self):
s):'''Drive forward. Speed has to be set before with set_speed()'''
self.drive(s,False, False)
def turn(turn_right(self, d):
'''Turn right for the given duration. We cannot determine the angle the robot turns without a compass or gyroscope.'''
self.drive(40,drive_instantly(True,False)
utime.sleep_ms(d)
self.emergency_stop()
def turn_before_obstacle(self, distance):
self.drive(0,True,False)
while self.get_dist() < distance:
pass
self.emergency_stop()
def turn_left(self, d):
'''Turn right for the given duration. We cannot determine the angle the robot turns without a compass or gyroscope.'''
self.drive_instantly(False,True)
utime.sleep_ms(d)
self.emergency_stop()
def toggle_turn(self, d):
'''Toggle turn for the given duration. We cannot determine the angle the robot turns without a compass or gyroscope.'''
if self.last_turn_right:
self.turn_left(d)
else:
self.turn_right(d)
self.last_turn_right = not self.last_turn_right
def random_turn(self,d):
'''Randomly turn for the given duration. We cannot determine the angle the robot turns without a compass or gyroscope.'''
if random.randint(0,1) == 0:
self.turn_left(d)
else:
self.turn_right(d)
def stop(self):
'''Stop the robot slowly by deceleration. '''
self.set_speed(0)
self.drive(0,self.motor_left.forward, self.motor_right.forward)
def emergency_stop(self):
'''Stop the robot immediately.'''
self.motor_left.set_speed(0)
self.motor_right.set_speed(0)
# self.set_speed(0)
self.speed = 0
def obstacle_detected(self, pin, pin_num):
'''This method is called when the IR-sensor has detected a change. Fill in your code accordingly'''
if pin.value() == 0:
print("obstacle detected on pin", pin_num)
else:
print("There is no obstacle anymore on pin ", pin_num)
# self.emergency_stop()
def get_dist(self):
return self.us.get_dist()
def set_angle(self,a):
self.servo.set_angle(a)
def get_smallest_distance(self):
'''This returns the angle of the ultrasonic sensor where it measured the smallest distance'''
self.set_angle(0)
utime.sleep_ms(500)
dist_map = {}
smallest_index=0
smallest_dist=2000.0
for i in range(0,180):
self.set_angle(i)
dist_map.update({i : self.get_dist()})
for i,dist in dist_map.items():
if dist<smallest_dist:
smallest_index=i
smallest_dist=dist
return smallest_index+1
def get_longest_distance(self):
'''This returns the angle of the ultrasonic sensor where it measured the longest distance'''
self.set_angle(0)
utime.sleep_ms(500)
dist_map = {}
longest_index=0
longest_dist=0.0
for i in range(0,180):
self.set_angle(i)
dist_map.update({i : self.get_dist()})
for i,dist in dist_map.items():
if dist>longest_dist:
longest_index=i
longest_dist=dist
return longest_index+1
Beispiel für die Benutzung der Klasse
robot = Robot(12,14,16,11,14)9) # Definiert die Klasse Robot, die die Pins für die Motoren übergibt.
robot.geradeaus(80)set_speed(60)
robot.forward()