diff options
| -rwxr-xr-x | bt.py | 7 | ||||
| -rwxr-xr-x | main.py | 89 |
2 files changed, 65 insertions, 31 deletions
@@ -26,12 +26,7 @@ while read != "1000": read = read.decode("utf-8").strip('\n') print(f"{read}\r") - if read == "11" or read == "22": - sleep(0.5) - else: - sleep(1) - - # print("0\r") + sleep(1) # print(f"Sending: 'Acknowledge: {read}'") # Acknowledge ÖS command @@ -175,25 +175,21 @@ if bto.find("Connected") != -1: forward = False backward = False sleep(2) - curDir = math.atan2(y - oldY, x - oldX) * (180/math.pi) - if curDir < 0: - curDir = curDir + 360 - if curDir >= 360: - curDir = curDir - 360 - - normDir = (desDir - curDir) % 360 - if normDir > 180: - normDir -= 360 - - if normDir > 10: - print("Adjusting to the left") - NANO.write(b"Left\n") - sleep(abs(normDir) / 10000) - - if normDir < -10: - print("Adjusting to the right") - NANO.write(b"Right\n") - sleep(abs(normDir) / 10000) + + for i in range(30): + dwm = DWMProcess.stdout.readline().strip("\n") + x, y = dwm.split(",") + x = int(x) + y = int(y) + + curDir = calcCurDir(x, y, oldX, oldY) + + adiff = calcAngleDiff(desDir, curDir) + + adjustAngle(adiff, forward, backward) + + forward = False + backward = False elif bto == "98": GPIO.output(LED, True) @@ -222,8 +218,7 @@ if bto.find("Connected") != -1: if backward: NANO.write(b"Backward\n") - sleep(0.1) - print(f"current pos ({x}, {y}) -> old pos ({oldX}, {oldY})") + print(f"current pos ({x}, {y}) <- old pos ({oldX}, {oldY})") print(f"Current direction: {curDir}") print(f"Normalized direction: {normDir}") print(f"Desired direction: {desDir}") @@ -233,10 +228,6 @@ if bto.find("Connected") != -1: f.close() # Print current status (current command, heading? position? Could we include a cool progress bar? TO MISSION COMPLETETION?????) - print("Terminating Serial port to Arduino Nano") - NANO.write(b"Closing down\n") - sleep(1) - NANO.close() print("Terminating LIDAR process") os.kill(LIDARProcess.pid, signal.SIGINT) @@ -246,3 +237,51 @@ if bto.find("Connected") != -1: print("Terminating Bluetooth Process") os.kill(BluetoothProcess.pid, signal.SIGINT) + +print("Terminating Serial port to Arduino Nano") +NANO.write(b"Closing down\n") +sleep(1) +NANO.close() + + +# Takes desired direction and current direction to get angle difference from desired direction +# Returns this angle difference with positive differences being left turns and negative ones being right turns +def calcAngleDiff(a1, a2): + diff = a1 - a2 + + if diff < -180: + diff += 360 + + return diff + +def calcCurDir(x, y, xo, yo): + curDir = math.atan2(y - yo, x - xo) * (180/math.pi) + if curDir < 0: + curDir = curDir + 360 + if curDir >= 360: + curDir = curDir - 360 + + return curDir + +def adjustAngle(adiff, f, b): + if f: + if adiff > 10: + print("Adjusting to the right") + NANO.write(b"Right\n") + sleep(abs(adiff) / 90) + + if normDir < -10: + print("Adjusting to the left") + NANO.write(b"Left\n") + sleep(abs(adiff) / 90) + else if b: + if adiff < -10: + print("Adjusting to the right") + NANO.write(b"Right\n") + sleep(abs(adiff) / 90) + + if normDir > 10: + print("Adjusting to the left") + NANO.write(b"Left\n") + sleep(abs(adiff) / 90) + |