forked from platypush/platypush
- Implemented auto_toggle command for Zeroborg
- Recalibrated power offsets
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8b733fb859
commit
8674626934
1 changed files with 18 additions and 9 deletions
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@ -15,6 +15,7 @@ class Direction(enum.Enum):
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DIR_LEFT = 'left'
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DIR_RIGHT = 'right'
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DIR_AUTO = 'auto'
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DIR_AUTO_TOGGLE = 'auto_toggle'
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class GpioZeroborgPlugin(Plugin):
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@ -23,13 +24,13 @@ class GpioZeroborgPlugin(Plugin):
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_direction = None
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_power_offsets = {
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Direction.DIR_LEFT: {
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Direction.DIR_UP: 0.315,
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Direction.DIR_DOWN: 0.285,
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Direction.DIR_UP: 0.325,
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Direction.DIR_DOWN: 0,
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},
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Direction.DIR_RIGHT: {
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Direction.DIR_UP: 0,
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Direction.DIR_DOWN: 0.242,
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Direction.DIR_UP: -0.132,
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Direction.DIR_DOWN: 0.387,
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},
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}
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@ -69,6 +70,14 @@ class GpioZeroborgPlugin(Plugin):
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left = 0.0
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right = 0.0
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if self._direction == Direction.DIR_AUTO_TOGGLE.value:
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if self.auto_mode:
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self._direction = None
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self.auto_mode = False
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else:
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self._direction = Direction.DIR_AUTO
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self.auto_mode = True
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if self._direction == Direction.DIR_AUTO.value:
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self.auto_mode = True
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@ -76,7 +85,7 @@ class GpioZeroborgPlugin(Plugin):
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distance = None
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while distance is None:
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distance = self.get_distance()
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print(distance)
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logging.info('Closest obstacle distance: {} mm'.format(distance))
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if distance > 300.0: # distance in mm
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self._direction = Direction.DIR_UP.value
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@ -94,11 +103,11 @@ class GpioZeroborgPlugin(Plugin):
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left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
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right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
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elif self._direction == Direction.DIR_LEFT.value:
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left = -1.25 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
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right = 2.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
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left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
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right = 1.75 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
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elif self._direction == Direction.DIR_RIGHT.value:
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left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
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right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
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left = 1.75 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
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right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
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elif self._direction is not None:
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logging.warning('Invalid direction: {}'.format(direction))
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self.stop()
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