Robot

In [1]:

    

from python.mbedrpc import *
import threading

class Motor:
    def __init__(self, a1, a2):
        self.a1=a1
        self.a2=a2
    def cmd(self, speed):
        if speed >=0:
            self.a1.write(speed)
            self.a2.write(0)
        else:
            self.a1.write(0)
            self.a2.write(-speed)
class Robot:
    def __init__(self, dev='/dev/ttyACM0'):
        self.mbed=SerialRPC(dev, 115200)
        a1=PwmOut(self.mbed, p21)
        a2=PwmOut(self.mbed, p22)
        b1=PwmOut(self.mbed, p23)
        b2=PwmOut(self.mbed, p24)
        self.m_right = Motor(a1, a2)
        self.m_left = Motor(b1, b2)
        self.enabled=True
        self.last_left=0
        self.last_right=0
        self.sensors=[]
        for i in (p20,p19,p18,p17,p16,p15):
            self.sensors.append(AnalogIn(self.mbed, i))
        self.rlock=threading.Lock()
    def enable(self):
#         self.rlock.acquire()
        self.enabled=True
        self._cmd(self.last_left, self.last_right)
#         self.rlock.release()
    def disable(self):
#         self.rlock.acquire()
        self.enabled=False
        self._cmd(self.last_left, self.last_right)
#         self.rlock.release()
    def drive(self, left, right):
#         self.rlock.acquire()
        self._cmd(left, right)
#         self.rlock.release()
    def cmd(self, left, right):
#         self.rlock.acquire()
        self._cmd(left, right)
#         self.rlock.release()
    def _cmd(self, left, right):
        self.last_left=left
        self.last_right=right
        if self.enabled:
            self.m_left.cmd(-left)
            self.m_right.cmd(right)
        else:
            self.m_left.cmd(0)
            self.m_right.cmd(0)
    def read_sensors(self):
        """ returns an array of the line sensor reflectance values
        """
        def read(sensor): return sensor.read()
        return map(read, self.sensors)


    

In [31]:

    

#NBINCLUDE_STOP


    

In [2]:

    

r = Robot()


    

In [3]:

    

r.cmd(1,0)


    

In [4]:

    

r.cmd(0,1)


    

In [5]:

    

r.cmd(0,0)


    

In [8]:

    

help(r.read_sensors)


    

    




Help on method read_sensors in module __main__:

read_sensors(self) method of __main__.Robot instance
    returns an array of the line sensor reflectance values

In [21]:

    

r.read_sensors()


    

    
Out[21]:





[0.8327229022979736,
 0.6478632688522339,
 0.5623931884765625,
 0.642246663570404,
 0.6019536256790161,
 0.684737503528595]

In [41]:

    

for sensor in r.sensors:
    print sensor.read()


    

    




0.612942636013
0.25567767024
0.13821734488
0.287667900324
0.127960935235
0.050549454987

In [41]:

    




    

In [8]:

    

r.disable()


    

In [1]:

    

%%file zrobot.py
from python.mbedrpc import *
import threading

class Motor:
    def __init__(self, a1, a2):
        self.a1=a1
        self.a2=a2
    def cmd(self, speed):
        if speed >=0:
            self.a1.write(speed)
            self.a2.write(0)
        else:
            self.a1.write(0)
            self.a2.write(-speed)
class Robot:
    def __init__(self, dev='/dev/ttyACM0'):
        self.mbed=SerialRPC(dev, 115200)
        a1=PwmOut(self.mbed, p21)
        a2=PwmOut(self.mbed, p22)
        b1=PwmOut(self.mbed, p23)
        b2=PwmOut(self.mbed, p24)
        self.m_right = Motor(a1, a2)
        self.m_left = Motor(b1, b2)
        self.enabled=True
        self.last_left=0
        self.last_right=0
        self.sensors=[]
        for i in (p20,p19,p18,p17,p16,p15):
            self.sensors.append(AnalogIn(self.mbed, i))
        self.rlock=threading.Lock()
    def enable(self):
#         self.rlock.acquire()
        self.enabled=True
        self._cmd(self.last_left, self.last_right)
#         self.rlock.release()
    def disable(self):
#         self.rlock.acquire()
        self.enabled=False
        self._cmd(self.last_left, self.last_right)
#         self.rlock.release()
    def drive(self, left, right):
#         self.rlock.acquire()
        self._cmd(left, right)
#         self.rlock.release()
    def cmd(self, left, right):
#         self.rlock.acquire()
        self._cmd(left, right)
#         self.rlock.release()
    def _cmd(self, left, right):
        self.last_left=left
        self.last_right=right
        if self.enabled:
            self.m_left.cmd(-left)
            self.m_right.cmd(right)
        else:
            self.m_left.cmd(0)
            self.m_right.cmd(0)
    def read_sensors(self):
        def read(sensor): return sensor.read()
        return map(read, self.sensors)


    

    




Overwriting zrobot.py

In [ ]: