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robotObjectSim (working)
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from sr.robot3 import *
import time
import math
class robot:
def __init__(self):
#Creates an instance of the robot object from sr.robot3 and saves it as in attribute to the instance of this class
self.R = Robot()
corner0 = [25,26,27,0,1,2]
corner1 = [4,5,6,7,8,9]
corner2 = [11,12,13,14,15,16]
corner3 = [18,19,20,21,22,23]
self.wallMarkers = [corner0, corner1, corner2, corner3]
#Deploys arms to the correct position upon initialising the robot
#self.R.servo_board.servos[1].position = 0.8
#self.R.servo_board.servos[2].position = -0.8
def move(self):
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = 0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def spin(self):
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = -0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def checkCollisons(self):
collided = False
if (self.R.ruggeduino.pins[A0].analogue_read() < 0.5 or self.R.ruggeduino.pins[A0].analogue_read() < 0.5) and ((self.R.ruggeduino.pins[A4].analogue_read() > 0) and (self.R.ruggeduino.pins[A4].analogue_read() < 0.17)):
collided = True
return collided
def findStartingCorner(self):
self.spin()
markers = self.R.camera.see()
mini = markers[0]
if mini.id in self.wallMarkers[0]:
self.starting_corner = 0
elif mini.id in self.wallMarkers[1]:
self.starting_corner = 1
elif mini.id in self.wallMarkers[2]:
self.starting_corner = 2
elif mini.id in self.wallMarkers[3]:
self.starting_corner = 3
def moveDist(self, dist, speed=0.5):
#speed defaults to 0.5 so it doesn't need to be passed
rotDist = 100 * math.pi
self.R.ruggeduino.command("s")
self.R.motor_board.motors[0].power = speed
self.R.motor_board.motors[1].power = speed
encLeft = self.R.ruggeduino.command("x")
encRight = self.R.ruggeduino.command("y")
while (encLeft + encRight)/2 < (dist/rotDist)*360:
encLeft = self.R.ruggeduino.command("x")
encRight = self.R.ruggeduino.command("y")
time.sleep(0.005)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def faceDirection(self, direc, speed=0.5):
#this method is used for turning the robot to face one of the 4 walls
#uses a 2D array to determine wall markers in each direction relative to a birds eye perspective
wallMarkers = [[0,1,2,3,4,5,6], [7,8,9,10,11,12,13], [14,15,16,17,18,19,20], [21,22,23,24,25,26,27]]
#input sanitation
direc = direc.lower()
#chooses the used markers based on input given
if direc == "north":
usedMarkers = self.wallMarkers[0]
elif direc == "south":
usedMarkers = self.wallMarkers[2]
elif direc == "east":
usedMarkers = self.wallMarkers[1]
elif direc == "west":
usedMarkers = self.wallMarkers[3]
print(usedMarkers)
markers = self.R.camera.see_ids()
print(markers)
#creates an array of markers that the camera both sees and are on the correct wall relative to the robot
intersection = [marker for marker in markers if marker in usedMarkers]
print(intersection)
#rotates the robot until the above task is complete
while len(intersection) < 1:
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = -0.5
self.R.sleep(0.1)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markers = self.R.camera.see_ids()
intersection = [marker for marker in markers if marker in usedMarkers]
markersFull = self.R.camera.see()
#creates a second list of full markers where only the markers that have been seen and are located on the correct wall are used
intersection2 = [marker for marker in markersFull if marker.id in usedMarkers]
#checks for the angle to the wall within a 5 degree margin of error and turns to face that wall accordingly
Facing = False
while not Facing:
#loops through each value the set of markers seen and checks for perpendicularity
for i in intersection2:
if i.orientation.rot_y * (180/math.pi) > 0 and i.orientation.rot_y * (180/math.pi) < 0:
Facing = True
self.R.motor_board.motors[0].power = 0.2
self.R.motor_board.motors[1].power = -0.2
time.sleep(0.1)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markersFull = self.R.camera.see()
intersection2 = [marker for marker in markersFull if marker.id in usedMarkers]
#functions for interacting with brainboard LEDs
def turnOnLED (self, name="A", colour="cyan"):
if name == "A" and colour == "cyan":
self.R.kch.leds[UserLED.A] = Colour.CYAN
if name == "B" and colour == "cyan":
self.R.kch.leds[UserLED.B] = Colour.CYAN
if name == "C" and colour == "cyan":
self.R.kch.leds[UserLED.C] = Colour.CYAN
if name == "A" and colour == "cyan":
self.R.kch.leds[UserLED.A] = Colour.RED
if name == "B" and colour == "cyan":
self.R.kch.leds[UserLED.B] = Colour.RED
if name == "C" and colour == "cyan":
self.R.kch.leds[UserLED.C] = Colour.RED
def turnOffLED (self, name="A"):
if name == "A" and colour == "cyan":
self.R.kch.leds[UserLED.A] = Colour.OFF
if name == "B" and colour == "cyan":
self.R.kch.leds[UserLED.B] = Colour.OFF
if name == "C" and colour == "cyan":
self.R.kch.leds[UserLED.C] = Colour.OFF
#to be added for a rotation function
def rotate(self, degrees):
pass
def faceMarker(self, marker_id, speed=0.5):
markers = self.R.camera.see_ids()
print(markers)
#the robot will stop roating as soon it sees the correct marker in its peripheral
while marker_id not in markers:
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = -0.5
self.R.sleep(0.1)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markers = self.R.camera.see_ids()
#sets up the initial distance as it compares the distance to the marker to previous distances
markers = self.R.camera.see()
for marker in markers:
if marker.id == marker_id:
dist = marker.distance
dist_diff = 1
dist2=0
while dist_diff > 0:
self.R.motor_board.motors[0].power = 0.2
self.R.motor_board.motors[1].power = -0.2
time.sleep(0.1)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markers = self.R.camera.see()
for marker in markers:
if marker.id == marker_id:
dist2 = marker.distance
dist_diff = dist - dist2
dist = dist2
self.R.motor_board.motors[0].power = -0.2
self.R.motor_board.motors[1].power = 0.2
time.sleep(0.1)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def goToMarker(self, marker_id, speed=0.5):
self.faceMarker(marker_id)
markers = self.R.camera.see()
for marker in markers:
if marker.id == marker_id:
usedMarker = marker
#adds 5cm buffer between robot and wall
while usedMarker.distance > 50 and not self.checkCollisons() :
print(self.R.ruggeduino.pins[A0].analogue_read())
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = 0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def goHome(self):
markers = self.R.camera.see_ids()
intersection = [marker for marker in markers if marker in self.wallMarkers[self.starting_corner][:len(self.wallMarkers[self.starting_corner])//2]]
while len(intersection) < 1:
self.spin()
markers = self.R.camera.see_ids()
intersection = [marker for marker in markers if marker in self.wallMarkers[self.starting_corner][:len(self.wallMarkers[self.starting_corner])//2]]
self.goToMarker(intersection[0])
def grabBoxes(self):
self.R.motor_board.motors[0].power = -0.25
self.R.motor_board.motors[1].power = 0.25
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markers = self.R.camera.see()
for marker in markers:
if marker.id > 27:
print(marker.distance)
print(marker.id)
self.goToMarker(marker.id)
if self.R.ruggeduino.pins[A4].analogue_read() > 1:
print(self.R.ruggeduino.pins[A4].analogue_read())
self.R.servo_board.servos[1].position = 0
while not self.R.ruggeduino.pins[2].digital_read():
self.R.motor_board.motors[0].power = -0.5
self.R.motor_board.motors[1].power = -0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
self.R.servo_board.servos[0].position = 1
#drives to marker until close enough
def driveToMarker(self, marker):
#hard coded testing for the method, can be removed once goToMarker is accurate
self.R.faceMarker(marker)
self.R.motor_board.motors[1].power = 0.5
self.R.sleep(0.28)
self.R.motor_board.motors[0].power = 0.5
#to see if the robot is close enough to the marker or any obstacles, breaks out of loop once that is the case
going = True
while going:
going = self.checkMarker()
self.R.sleep(0.1)
#stops to robot
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
#method that checks distance of obstacle to robot
def checkMarker(self):
going = True
#checks whether closest thing is a marker or an obstacle and sets the distance to stop accordingly
markers = self.R.camera.see()
if markers[0].id > 27:
toStop = 0.1
else:
toStop = 0.5
#checks the distance of the nearest object to the robot
frontDistance = self.R.ruggeduino.pins[A4].analogue_read()
frontLeft = self.R.ruggeduino.pins[A0].analogue_read()
frontRight = self.R.ruggeduino.pins[A1].analogue_read()
#if distance to object is less than a certain distance, the method tells robot to stop through the return
if frontDistance < toStop or frontLeft < toStop - 0.2 or frontRight < toStop - 0.2:
going = False
return going
def faceClosestToken(self, counter):
markers = self.R.camera.see()
idx = 0
minDist = 9000000000
for i in range(counter):
self.R.motor_board.motors[0].power = 0.08
self.R.motor_board.motors[1].power = -0.08
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
if markers[0].distance < minDist and markers[0].id > 27:
idx = i
#for marker in markers:
#if marker.id > 27:
#if marker.distance < minDist:
#print(marker.distance, marker.id)
#idx = i
markers = self.R.camera.see()
for i in range(counter-idx):
self.R.motor_board.motors[0].power = -0.08
self.R.motor_board.motors[1].power = 0.08
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markers = self.R.camera.see()
usedAngle = abs(markers[0].spherical.rot_y)
minAngle = 999090909
while abs(markers[0].spherical.rot_y) <= minAngle:
self.R.motor_board.motors[0].power = -0.01
self.R.motor_board.motors[1].power = 0.01
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
if abs(markers[0].spherical.rot_y) < minAngle:
minAngle = abs(markers[0].spherical.rot_y)
markers = self.R.camera.see()
self.R.motor_board.motors[0].power = 0.01
self.R.motor_board.motors[1].power = -0.01
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def getAngles(self):
markers = self.R.camera.see()
for marker in markers:
print(marker.spherical.rot_y)
def getBox(self):
while True:
self.faceClosestToken(2)
going = self.checkMarker()
idx = 0
while going:
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = 0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
idx+=1
going = self.checkMarker()
self.R.servo_board.servos[0].position = 0.5
self.R.servo_board.servos[1].position = 0.5
self.R.sleep(0.3)
self.R.motor_board.motors[0].power = 0.25
self.R.motor_board.motors[1].power = -0.25
self.R.sleep(1)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
for i in range(idx+3):
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = 0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
self.R.servo_board.servos[0].position = -1
self.R.servo_board.servos[1].position = -1
self.R.motor_board.motors[0].power = -0.5
self.R.motor_board.motors[1].power = -0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
self.spin()
for i in range(3):
self.R.motor_board.motors[0].power = 0.5
self.R.motor_board.motors[1].power = 0.5
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
def knowCorner(self):
corners = [3,0,1,2]
found = False
count = 0
self.R.motor_board.motors[0].power = -0.3
self.R.motor_board.motors[1].power = 0.3
self.R.sleep(0.5)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0
markers = self.R.camera.see_ids()
if len(markers) == 0:
self.escape()
else:
print(markers)
for i in markers:
if i < 28:
wallMarker = i
break
while found == False or count > 3:
for b in self.wallMarkers[count]:
if wallMarker == b:
corner = count
print(f"In corner {corners[count]}")
break
count += 1
print("not found")
self.getBox()
def escape(self):
self.R.motor_board.motors[0].power = -1
self.R.motor_board.motors[1].power = -1
self.R.sleep(0.3)
self.R.motor_board.motors[0].power = 0
self.R.motor_board.motors[1].power = 0