Main.py

from time import sleep
import random
import imager2 as IMR
from reflectance_sensors import ReflectanceSensors
from camera import Camera
from motors import Motors
from ultrasonic import Ultrasonic
from Bbcon import *


# Gjor at roboten danser
def dancer():
    m = Motors()
    m.forward(0.2, 3)
    m.backward(0.2, 3)
    m.right(0.5, 3)
    m.left(0.5, 3)
    m.backward(0.3, 2.5)
    m.set_value([0.5, 0.1], 10)
    m.set_value([-0.5, -0.1], 10)


# This tests the UV (distance) sensors.  The robot moves forward to within 10 cm of the nearest obstacle.  It
# then does a little dancing before backing up to approximately 50 cm from the nearest obstacle.
def explorer(dist=10):
    m = Motors()
    u = Ultrasonic()
    while u.update() > dist:
        m.forward(0.2, 0.2)
    m.backward(.1, 0.5)
    m.left(.5, 3)
    m.right(.5, 3.5)
    sleep(2)
    while u.update() < dist*5:
        m.backward(.2, 0.2)
    m.left(.75, 5)


def random_step(motors, speed=0.25, duration=1):
    dir = random.choice(['forward', 'backward', 'left', 'right'])
    eval('Motors.'+ dir)(motors,speed,duration)


# This moves around randomly until it gets to a dark spot on the floor (detected with the infrared belly sensors).
# It then rotates around, snapping pictures as it goes.  It then pastes all the pictures together into a
# panoramo view, many of which may be created per "vacation".
def tourist(steps=25, shots=5, speed=0.25):
    rs = ReflectanceSensors(); m = Motors(); c = Camera()
    for i in range(steps):
        random_step(m, speed=speed, duration=1)
        vals = rs.update()
        if sum(vals) < 1:  # very dark area
            im = shoot_panorama(c,m,shots)
            im.dump_image('vacation_pic'+str(i)+'.jpeg')


def shoot_panorama(camera, motors, shots=5):
    s = 1
    im = IMR.Imager(image=camera.update()).scale(s,s)
    rotation_time = 3/shots # At a speed of 0.5(of max), it takes about 3 seconds to rotate 360 degrees
    for i in range(shots-1):
        motors.right(0.5, rotation_time)
        im = im.concat_horiz(IMR.Imager(image=camera.update()))
    return im


#m = Motors() 
#m.forward(0.25, 0.5)

b = Bbcon()
b.controller()