8000 Finished commenting DriveLibraries (forgot init) · WesleyJ-128/FLL_Python_Codebase@b5cc464 · GitHub
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Finished commenting DriveLibraries (forgot init)
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‎FLLMaster/DriveLibraries.py

Lines changed: 38 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,15 @@
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# The program doesn't work without this. Not sure why.
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from ev3dev2.motor import *
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from ev3dev2.sensor.lego import *
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from ev3dev2.sensor import *
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6+
# Global Variables for color sensor calibration
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reflHighVal = 100
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reflLowVal = 0
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reflRate = 1
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811
class Robot:
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# Import stuff
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from ev3dev2.motor import MoveTank, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, LargeMotor
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from ev3dev2.sensor.lego import ColorSensor, GyroSensor, InfraredSensor, TouchSensor, UltrasonicSensor
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from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
@@ -16,60 +20,88 @@ class Robot:
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import ev3dev2.fonts as fonts
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import math
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19-
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def __init__(self, filename):
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"""
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Stores all the properties of the robot, such as wheel circumference, motor ports, ect. Also provides methods for higher-level
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interaction with the robot, such as driving in a straight line at a specific heading, following a line, or driving until hitting
27+
an obstacle. Also instantiates motor and sensor objects for direct use later, if necessary.
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Reads ``filename`` for robot properties; ``filename`` should be a .ini or .cfg file in INI format. See the current robot.cfg
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for format example.
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"""
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# Load and read the config file
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from configparser import SafeConfigParser
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conf = SafeConfigParser()
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conf.read(filename)
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# Set the "ForFLL" flag based on it's status in the config file (used in some input validation)
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self.ForFLL = bool(conf.get('Other', 'ForFLL') == "TRUE")
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39+
# Instantiate objects for controlling things on the brick itself (Speaker, Buttons, Lights, and the LCD)
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self.spkr = self.Sound()
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self.btn = self.Button()
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self.led = self.Leds()
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self.disp = self.Display()
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45+
# Read the drive motor ports from the config file, and store. "eval()" is used because the port names "OUTPUT_#",
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# where # is a capital letter, A - D, are variables used as constants, and reading as a string does not work.
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self.LeftMotor = eval(conf.get('Drivebase', 'LeftMotorPort'))
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self.RightMotor = eval(conf.get('Drivebase', 'RightMotorPort'))
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# Read and store the wheel circumference and width between the wheels
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self.WheelCircumference = float(conf.get('Drivebase', 'WheelCircumference'))
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self.WidthBetweenWheels = float(conf.get('Drivebase', 'WidthBetweenWheels'))
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# Read and store MotorInverted and GyroInverted. GyroInverted shoould be true if the gyro is inverted relative to the motors,
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# and MotorInverted should be true if the drive motors are upside-down. Drive functions will not work correctly if these
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# values are incorrect, and they are the first things to check if the drive functions do not work correctly.
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self.MotorInverted = bool(conf.get('Drivebase', 'MotorInverted') == "TRUE")
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self.GearRatio = float(conf.get('Drivebase', 'GearRatio'))
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self.GyroInverted = bool(conf.get('Drivebase', 'GyroInverted') == "TRUE")
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# Reads and stores the gear ratio value. Currently not used, except for motor direction.
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# (1 and -1 work, with -1 meaning a 1:1 ratio that reverses the motor direction)
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self.GearRatio = float(conf.get('Drivebase', 'GearRatio'))
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# Reads and stores the PID gains for driving in a straight line.
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self.kp = float(conf.get('Drivebase', 'kp'))
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self.ki = float(conf.get('Drivebase', 'ki'))
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self.kd = float(conf.get('Drivebase', 'kd'))
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65+
# Read the sensor ports from the config file, and store. "eval()" is used because the port names "INPUT_#",
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# where # is a number, 1 - 4, are variables used as constants, and reading as a string does not work.
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self.ColorPort = eval(conf.get('Sensors', 'ColorPort'))
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self.GyroPort = eval(conf.get('Sensors', 'GyroPort'))
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self.InfraredPort = eval(conf.get('Sensors', 'InfraredPort'))
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self.TouchPort = eval(conf.get('Sensors', 'TouchPort'))
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self.UltrasonicPort = eval(conf.get('Sensors', 'UltrasonicPort'))
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# Reads and stores the PID gains for following a line.
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self.kpLine = float(conf.get('Sensors', 'kpLine'))
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self.kiLine = float(conf.get('Sensors', 'kiLine'))
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self.kdLine = float(conf.get('Sensors', 'kdLine'))
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# Read the auxillary motor ports, if any, from the config file, and store. "eval()" is used because the port names "OUTPUT_#",
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# where # is a capital letter, A - D, are variables used as constants, and reading as a string does not work.
5279
self.AuxMotor1 = eval(conf.get('AuxMotors', 'AuxMotor1'))
5380
self.AuxMotor2 = eval(conf.get('AuxMotors', 'AuxMotor2'))
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82+
# Instantiate the auxillary motor objects (only if motors are connected)
5583
#self.m1 = MediumMotor(self.AuxMotor1)
5684
#self.m2 = MediumMotor(self.AuxMotor2)
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5886

87+
# Instantiate the sensor objects
5988
self.cs = ColorSensor(self.ColorPort)
6089
self.gs = GyroSensor(self.GyroPort)
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self.ir = InfraredSensor(self.InfraredPort)
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self.us = UltrasonicSensor(self.UltrasonicPort)
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93+
# Instantiate the drive motor objecta, as well as the motorset objects for controlling both simultainiously
6494
self.tank = MoveTank(self.LeftMotor, self.RightMotor)
65-
self.tank.gyro = GyroSensor(self.GyroPort)
6695
self.steer = MoveSteering(self.LeftMotor, self.RightMotor)
6796
self.lm = LargeMotor(self.LeftMotor)
6897
self.rm = LargeMotor(self.RightMotor)
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99+
# Reset the gyro angle to zero by switching modes
70100
self.gs._ensure_mode(self.gs.MODE_GYRO_G_A)
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self.cs._ensure_mode(self.cs.MODE_COL_REFLECT)
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103+
# If the motors are inverted xor the gear ratio is negative, set the motor poloraity to be inverted,
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# so normal motor commands will run the motors in the opposite direction.
73105
if self.MotorInverted ^ (self.GearRatio / abs(self.GearRatio) == -1):
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self.lm.polarity = "inversed"
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self.rm.polarity = "inversed"
@@ -79,11 +111,14 @@ def __init__(self, filename):
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self.rm.polarity = "normal"
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self.tank.set_polarity = "normal"
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# Set the integer GyroInvertedNum to reflect the boolean GyroInverted, with -1 = True, and 1 = False,
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# for use in calculations later
82116
if self.GyroInverted:
83117
self.GyroInvertedNum = -1
84118
else:
85119
self.GyroInvertedNum = 1
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# Beep to signify the robot isdone initialization (it takes a while)
87122
self.spkr.beep()
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def reflectCal(self):

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