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- Implemented auto_toggle command for Zeroborg

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- Recalibrated power offsets
This commit is contained in:
Fabio Manganiello 2018-03-05 23:27:20 +01:00
parent 8b733fb859
commit 8674626934
1 changed files with 18 additions and 9 deletions
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27
platypush/plugins/gpio/zeroborg/__init__.py
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@ -15,6 +15,7 @@ class Direction(enum.Enum):
DIR_LEFT = 'left' DIR_LEFT = 'left'
DIR_RIGHT = 'right' DIR_RIGHT = 'right'
DIR_AUTO = 'auto' DIR_AUTO = 'auto'
DIR_AUTO_TOGGLE = 'auto_toggle'
class GpioZeroborgPlugin(Plugin): class GpioZeroborgPlugin(Plugin):
@ -23,13 +24,13 @@ class GpioZeroborgPlugin(Plugin):
_direction = None _direction = None
_power_offsets = { _power_offsets = {
Direction.DIR_LEFT: { Direction.DIR_LEFT: {
Direction.DIR_UP: 0.315, Direction.DIR_UP: 0.325,
Direction.DIR_DOWN: 0.285, Direction.DIR_DOWN: 0,
}, },
Direction.DIR_RIGHT: { Direction.DIR_RIGHT: {
Direction.DIR_UP: 0, Direction.DIR_UP: -0.132,
Direction.DIR_DOWN: 0.242, Direction.DIR_DOWN: 0.387,
}, },
} }
@ -69,6 +70,14 @@ class GpioZeroborgPlugin(Plugin):
left = 0.0 left = 0.0
right = 0.0 right = 0.0
if self._direction == Direction.DIR_AUTO_TOGGLE.value:
if self.auto_mode:
self._direction = None
self.auto_mode = False
else:
self._direction = Direction.DIR_AUTO
self.auto_mode = True
if self._direction == Direction.DIR_AUTO.value: if self._direction == Direction.DIR_AUTO.value:
self.auto_mode = True self.auto_mode = True
@ -76,7 +85,7 @@ class GpioZeroborgPlugin(Plugin):
distance = None distance = None
while distance is None: while distance is None:
distance = self.get_distance() distance = self.get_distance()
print(distance) logging.info('Closest obstacle distance: {} mm'.format(distance))
if distance > 300.0: # distance in mm if distance > 300.0: # distance in mm
self._direction = Direction.DIR_UP.value self._direction = Direction.DIR_UP.value
@ -94,11 +103,11 @@ class GpioZeroborgPlugin(Plugin):
left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN] left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN] right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction == Direction.DIR_LEFT.value: elif self._direction == Direction.DIR_LEFT.value:
left = -1.25 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN] left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = 2.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP] right = 1.75 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
elif self._direction == Direction.DIR_RIGHT.value: elif self._direction == Direction.DIR_RIGHT.value:
left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP] left = 1.75 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN] right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction is not None: elif self._direction is not None:
logging.warning('Invalid direction: {}'.format(direction)) logging.warning('Invalid direction: {}'.format(direction))
self.stop() self.stop()