Coderbot can now move for certain distance or time

Author: sorre97

coderbot.py

@@ -28,10 +28,10 @@
 # GPIO
 # motors
 PIN_MOTOR_ENABLE = 22
-PIN_LEFT_FORWARD = 24
-PIN_LEFT_BACKWARD = 25
-PIN_RIGHT_FORWARD = 17
-PIN_RIGHT_BACKWARD = 4
+PIN_LEFT_FORWARD = 25
+PIN_LEFT_BACKWARD = 24
+PIN_RIGHT_FORWARD = 4
+PIN_RIGHT_BACKWARD = 17
 #?
 PIN_PUSHBUTTON = 11
 # servo
@@ -96,7 +96,7 @@ def __init__(self, motor_trim_factor=1.0, encoder=True):
         except IOError:
             logging.info("MPU not available")
 
-        self.stop()
+        #self.stop()
         self._is_moving = False
 
     the_bot = None
@@ -114,35 +114,35 @@ def get_instance(cls, servo=False, motor_trim_factor=1.0):
             cls.the_bot = CoderBot(servo, motor_trim_factor)
         return cls.the_bot
 
-    def move(self, speed=100, elapse=-1):
+    def move(self, speed=100, time_elapse=0, target_distance=0):
         speed_left = min(100, max(-100, speed * self._motor_trim_factor))
         speed_right = min(100, max(-100, speed / self._motor_trim_factor))
-        self.motor_control(speed_left=speed_left, speed_right=speed_right, elapse=elapse)
+        self.motor_control(speed_left=speed_left, speed_right=speed_right, time_elapse=time_elapse, target_distance=target_distance)
 
-    def turn(self, speed=100, elapse=-1):
+    def turn(self, speed=100, time_elapse=0):
         speed_left = min(100, max(-100, speed * self._motor_trim_factor))
         speed_right = -min(100, max(-100, speed / self._motor_trim_factor))
-        self.motor_control(speed_left=speed_left, speed_right=speed_right, elapse=elapse)
+        self.motor_control(speed_left=speed_left, speed_right=speed_right, time_elapse=time_elapse)
 
     def turn_angle(self, speed=100, angle=0):
         z = self._ag.get_gyro_data()['z']
-        self.turn(speed, elapse=-1)
+        self.turn(speed, time_elapse=0)
         while abs(z - self._ag.get_gyro_data()['z']) < angle:
             time.sleep(0.05)
             logging.info(self._ag.get_gyro_data()['z'])
         self.stop()
 
-    def forward(self, speed=100, elapse=-1):
-        self.move(speed=speed, elapse=elapse)
+    def forward(self, speed=100, time_elapse=0):
+        self.move(speed=speed, time_elapse=time_elapse)
 
-    def backward(self, speed=100, elapse=-1):
-        self.move(speed=-speed, elapse=elapse)
+    def backward(self, speed=100, time_elapse=0):
+        self.move(speed=-speed, time_elapse=elapse)
 
-    def left(self, speed=100, elapse=-1):
-        self.turn(speed=-speed, elapse=elapse)
+    def left(self, speed=100, time_elapse=0):
+        self.turn(speed=-speed, time_elapse=time_elapse)
 
-    def right(self, speed=100, elapse=-1):
-        self.turn(speed=speed, elapse=elapse)
+    def right(self, speed=100, time_elapse=0):
+        self.turn(speed=speed, time_elapse=time_elapse)
 
     def get_sonar_distance(self, sonar_id=0):
         return self.sonar[sonar_id].get_distance()
@@ -187,5 +187,8 @@ def restart(self):
     def reboot(self):
         os.system('sudo reboot')
 
-    def _dc_enc_motor(self, speed_left=100, speed_right=100, elapse=0):
-        self._twin_motors_enc.control_time(power_left=speed_left, power_right=speed_right, time_elapse=elapse)
+    def _dc_enc_motor(self, speed_left=100, speed_right=100, time_elapse=0, target_distance=0):
+        self._twin_motors_enc.control(power_left=speed_left,
+                                      power_right=speed_right,
+                                      time_elapse=time_elapse,
+                                      target_distance=target_distance)

rotary_encoder/wheelsaxel.py

@@ -54,6 +54,18 @@ def speed(self):
         return (l_speed + r_speed) / 2
 
     # MOVEMENT
+    """ Movement wrapper method 
+        if time is specified and distance is not, control_time is called
+        if distance is specified and time is not, control_distance is called
+        if both distance and time are specified, control_velocity is called """
+    def control(self, power_left=100, power_right=100, time_elapse=0, target_distance=0):
+        if(time_elapse != 0 and target_distance == 0): # time
+            self.control_time(power_left, power_right, time_elapse)
+        elif(time_elapse == 0 and target_distance != 0): # distance
+            self.control_distance(power_left, power_right, target_distance)
+        else: # velocity
+            self.control_velocity(time_elapse, target_distance)
+
     """ Motor time control allows the motors
         to run for a certain amount of time """
     def control_time(self, power_left=100, power_right=100, time_elapse=0):
@@ -81,12 +93,17 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
         # moving for certaing amount of distance
         while(target_distance > 0):
             sleep(0.05) # check if arrived every 50ms,
-            print(str(self._left_motor._encoder_speed))
+            print(str(self.distance()))
             target_distance = target_distance - self.distance() # updating target distance
 
         # robot arrived
         self.stop()
 
+    """ Motor speed control to travel given distance
+        in given time adjusting power on motors invididually """
+    def control_velocity(self, time_elapse=0, target_distance=0):
+        pass
+
     # old control distance, trying to adjust power
     # def control_distance(self, power_left = 100, power_right = 100, target_distance = 0):
     #     self._is_moving = True