backend-legacy/movements.py at 4.0-wip · CoderBotOrg/backend-legacy · GitHub

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import sensors
import time

# Classes for movements by servos or motors
# All herited the MovementsControl super class


class MovementsControl(object):
    def __init__(self):
        self._is_moving = False
    def set(self, speed_left=100, speed_right=100, elapse=None):
        self._is_moving = True
    def stop(self):
        for pin in self._pins:
            pin.stop()
        self._is_moving = False

    def is_moving(self):
        return self._is_moving

    def move(self, speed=100, elapse=None):
        self.set(speed, speed, elapse)
    def turn(self, speed=100, elapse=None):
        self.set(speed, -speed, elapse)

    def forward(self, speed=100, elapse=None):
        self.move(speed, elapse)
    def backward(self, speed=100, elapse=None):
        self.move(-speed, elapse)
    def right(self, speed=100, elapse=None):
        self.turn(speed, elapse)
    def left(self, speed=100, elapse=None):
        self.turn(-speed, elapse)


# 360 degrees servos controller
class ServosControl(MovementsControl):
    def __init__(self, pin_left, pin_right):
        #super(ServosControl, self).__init__()
        MovementsControl.__init__(self)
        self._pins = [sensors.ServoOutput(pin_left), sensors.ServoOutput(pin_right)]

    def set(self, speed_left=100, speed_right=100, elapse=None):
        speed_left = -speed_left/2+50
        speed_right = speed_right/2+50
        self._is_moving = True
        map(lambda pin, speed: pin.set(percent=speed), self._pins, [speed_left, speed_right])
        if elapse:
            time.sleep(elapse)
            print 'servos.set call stop'
            self.stop()

class MotorsControl(MovementsControl):
    def __init__(self, pin_enable, pin_left_forward, pin_left_backward, pin_right_forward, pin_right_backward):
        super(MotorsControl, self).__init__()
        pins = [pin_left_forward, pin_left_backward, pin_right_forward, pin_right_backward]
        self._pins = [sensors.PWMOutput(pin) for pin in pins]
        self._pin_enable = sensors.OutPut(pin_enable)
        self._is_moving = False

    def freq(self, value):
        for pin in self._pins: pin.freq(value)
    def range(self, value):
        for pin in self._pins: pin.range(value)

    def set(self, speed_left=100, speed_right=100, elapse=None):
        speeds = []
        for speed in [speed_left, speed_right]:
            if speed > 0:   speeds.extend([speed,0])
            elif speed < 0: speeds.extend([0,-speed])
            else:           speeds.extend([0,0])
        self._is_moving = True
        map(lambda pin, speed: pin.set(speed), self._pins, speeds)
        self._pin_enable.set()
        if elapse:
            time.sleep(elapse)
            self.stop()

    def stop(self):
        self._pin_enable.clear()
        super(MotorsControl, self).stop()


# Classes for movements assisted by camera
# TODO: verify the class of sensor to avoid all other but Dense Flow Sensor

class MovementsMotionControlled(MovementsControl):
    def __init__(self, sensor, sensibility=0.5):
        #super(MovementsMotionControlled, self).__init__()
        MovementsControl.__init__(self)
        self._sensibility = sensibility
        self._sensor = sensor

    def move(self, speed=100, elapse=None):
        print 'motion.move', self._sensor._CameraSensor__launched
        self._target = speed
        self._delta = 0
        self._sensor.addProcess(self._correct, 3)
        self.set(speed, speed)
        if elapse:
            time.sleep(elapse)
            self.stop()

    def stop(self):
        try: self._sensor.delProcess(self._correct, 3)
        except ValueError: pass
        self._sensor._stop()
        print 'motion.stop', self._sensor._CameraSensor__launched

    def _correct(self, sensor):
        print 'motion.correct', sensor._CameraSensor__launched
        try: (w,h,_,_) = sensor.get()
        except TypeError: return
        self._delta += w * self._sensibility
        self.set(min(max(self._target+self._delta,-100),100), min(max(self._target-self._delta,-100),100))


# For simplicity in code writeability, I use multiple heritance... Sorry.
# If someone has a better solution to avoid rewrite motion's methods in
# each classes, thanks to tell me ;)
# TODO : Try another way to write this and avoid multiple heritance
class ServosMotionControlled(ServosControl, MovementsMotionControlled):
    def __init__(self, sensor, pin_left, pin_right, sensibility=0.5):
        ServosControl.__init__(self, pin_left, pin_right)
        MovementsMotionControlled.__init__(self, sensor, sensibility)

class MotorsMotionControlled(MotorsControl, MovementsMotionControlled):
    def __init__(self, sensor, pin_enable, pin_left_forward, pin_left_backward, pin_right_forward, pin_right_backward, sensibility=0.5):
        MotorsControl.__init__(self, pin_enable, pin_left_forward, pin_left_backward, pin_right_forward, pin_right_backward)
        MovementsMotionControlled.__init__(self, sensor, sensibility)
    def stop(self):
        MovementsMotionControlled.stop(self)
        MotorsControl.stop(self)


#class ServosMotionControlled(ServosControl):
#    def __init__(self, sensor, *args):
#        super(ServosMotionControlled, self).__init__(*args)
#        self._sensor = sensor
#
#    def move(self, speed=100, elapse=None):
#        print 'motion.move', self._sensor._CameraSensor__launched
#        #self._elapse = elapse
#        self._target = speed
#        self._delta = 0
#        self._sensor.addProcess(self._correct, 3)
#        self.set(speed, speed)
#        if elapse:
#            time.sleep(elapse)
#            self.stop()
#
#    def stop(self):
#        try: self._sensor.delProcess(self._correct, 3)
#        except ValueError: pass
#        super(ServosMotionControlled, self).stop()
#        self._sensor._stop()
#        print 'motion.stop', self._sensor._CameraSensor__launched
#
#    def _correct(self, sensor):
#        print 'motion.correct', self._sensor._CameraSensor__launched
#        sensitivity = 0.5
#        try: (w,h,_,_) = sensor.get()
#        except TypeError: return
#        #print 'correct', w*sensitivity
#        self._delta += w * sensitivity
#        self.set(min(max(self._target+self._delta,-100),100), min(max(self._target-self._delta,-100),100))


if __name__ == '__main__':
    s = ServosControl(25, 4)

    for s in range(-100, 101, 10):
        print 'speed:', s
        s.set(s, s)
        time.sleep(1)
    s.stop()