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-rw-r--r--README.md6
-rw-r--r--code.py107
-rw-r--r--gui.py46
-rw-r--r--maps/exampleRobotMap1
-rw-r--r--pathfind.py (renamed from main.py)46
5 files changed, 118 insertions, 88 deletions
diff --git a/README.md b/README.md
index d0ca97a..4de9340 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@ This is a program designed for use on a robot for the "Robot Tour" Event for the
Positions on the course are determined by their X value and Y value. Y values are in reverse (going down on the coordinate plane means the Y value increases). Map dimensions must be rectangular and are defined in `MAPWIDTH` and `MAPHEIGHT`
-Start and end points can be determined by changing the values in `STARTPOINT` and `ENDPOINT` in `main.py`. The order of points that the robot travels to is determined by `checkpointList[]`.
+Start and end points can be determined by changing the values in `STARTPOINT` and `ENDPOINT` in `pathfind.py`. The order of points that the robot travels to is determined by `checkpointList[]`.
```python
checkpointList = [
@@ -39,3 +39,7 @@ wallList = [
```
The program is instructed to solve the course using the `solveCourse` function.
+
+The actual pathfinding and motor commands are split up between the `pathfind.py` and `code.py` files. `pathfind.py` simply finds an optimal route and `code.py` is the file that must be put on the robot. in `code.py`, you must copy the output produced by `pathfind.py` into the source code file. Eventually, this may be automated where instructions are output to a text file where `code.py` can read it.
+
+
diff --git a/code.py b/code.py
new file mode 100644
index 0000000..cb72603
--- /dev/null
+++ b/code.py
@@ -0,0 +1,107 @@
+import time
+import board
+from analogio import AnalogIn
+from adafruit_motorkit import MotorKit
+kit = MotorKit()
+
+analog_in = AnalogIn(board.A1)
+
+commandList = (180, 90, 0, 0, 270, 0,
+ 180, 90, 180, 180, 270,
+ 180, 90, 270, 0, 90, 90, 90,
+ 0, 180, 270, 180, 90, 270, 0,
+ 270, 270, 180, 90)
+
+DIRECTIONS = {0: 'Up',
+ 90: 'Right',
+ 180: 'Down',
+ 270: 'Left'}
+
+robotDirection = 90
+
+
+def get_voltage(pin):
+ return (pin.value * 3.3) / 65536
+
+
+def turn(direction, amount):
+ turnDuration = 0.6
+ turnSpeed = 0.7
+ if amount == 2:
+ turnDuration = turnDuration * 2
+ if direction == 'counterClockwise':
+ turnSpeed = -(turnSpeed)
+ kit.motor3.throttle = -turnSpeed
+ kit.motor4.throttle = -turnSpeed
+ time.sleep(turnDuration)
+ kit.motor3.throttle = 0.0
+ kit.motor4.throttle = -0.0
+ time.sleep(1.0)
+
+
+def move():
+ kit.motor3.throttle = -0.55
+ kit.motor4.throttle = 0.85
+ time.sleep(0.9)
+ kit.motor3.throttle = 0.0
+ kit.motor4.throttle = 0.0
+ time.sleep(1.0)
+
+
+def centerAtStart():
+ kit.motor3.throttle = 0.6
+ kit.motor4.throttle = -0.6
+ time.sleep(0.45)
+ kit.motor3.throttle = 0.0
+ kit.motor4.throttle = 0.0
+ time.sleep(1.0)
+
+
+def runInstructions():
+ global robotDirection
+ v = 0
+ while (v < 1.3):
+ v = get_voltage(analog_in)
+ print(v)
+ time.sleep(0.05)
+
+ print("Exited while loop.")
+
+ for i in range(len(commandList)):
+ turnIncrement = 0
+ if commandList[i] == robotDirection:
+ move()
+ # print("Move Foward (Facing %s)" % (DIRECTIONS[robotDirection]))
+ else:
+ while robotDirection != commandList[i]:
+ robotDirection += 90
+ turnIncrement += 1
+ if robotDirection == 360:
+ robotDirection = 0
+ if turnIncrement == 0:
+ # print("Move.")
+ move()
+ elif turnIncrement == 1:
+ # print("Turn 90° clockwise to face %s." % (DIRECTIONS[robotDirection]))
+ turn('clockwise', 1) # 1 represents 90 degrees
+ # print("Move.")
+ move()
+ elif turnIncrement == 2:
+ # print("Turn 180° clockwise to face %s." % (DIRECTIONS[robotDirection]))
+ turn('clockwise', 2)
+ # print("Move.")
+ move()
+ elif turnIncrement == 3:
+ # print("Turn 90° counterclockwise to face %s." % (DIRECTIONS[robotDirection]))
+ turn('counterClockwise', 1)
+ # print("Move.")
+ move()
+
+
+# centerAtStart()
+# turn('clockwise', 1)
+# print("Hello World")
+# runInstructions()
+# move()
+
+
diff --git a/gui.py b/gui.py
deleted file mode 100644
index 3f9400c..0000000
--- a/gui.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import pygame
-import sys
-from pygame.locals import *
-
-pygame.init()
-
-BLACK = (0, 0, 0)
-GRAY = (99, 99, 99)
-WHITE = (255, 255, 255)
-WINDOW_HEIGHT = 800
-WINDOW_WIDTH = 800
-MARGIN = 20
-MATRIX_HEIGHT = 5
-MATRIX_WIDTH = 4
-
-square_size = 100
-
-
-GridWidthpx = (MATRIX_WIDTH * square_size) + (MATRIX_WIDTH * square_size // 10)
-GridHeightpx = (MATRIX_HEIGHT * square_size) + (MATRIX_HEIGHT * square_size // 10)
-square_x = GridWidthpx // 4 - square_size // 4
-square_y = GridHeightpx // 4 - square_size // 4
-
-square_x_orig = square_x
-
-displaySurface = pygame.display.set_mode((WINDOW_WIDTH, WINDOW_HEIGHT), 0, 32)
-pygame.display.set_caption('tourob GUI')
-
-displaySurface.fill(WHITE)
-
-for y in range(MATRIX_HEIGHT):
- square_x = square_x_orig
- pygame.draw.rect(displaySurface, BLACK, (square_x, square_y, MARGIN, square_size))
- for x in range(MATRIX_WIDTH):
- pygame.draw.rect(displaySurface, BLACK, (square_x - MARGIN, square_y, MARGIN, square_size))
- pygame.draw.rect(displaySurface, GRAY, (square_x, square_y, square_size, square_size))
- square_x += square_size + MARGIN
- pygame.draw.rect(displaySurface, BLACK, (square_x - MARGIN, square_y, MARGIN, square_size))
- square_y += square_size + MARGIN
-while True:
- for event in pygame.event.get():
- if event.type == QUIT:
- pygame.quit()
- sys.exit()
-
- pygame.display.update()
diff --git a/maps/exampleRobotMap b/maps/exampleRobotMap
index 940d0ef..c95848f 100644
--- a/maps/exampleRobotMap
+++ b/maps/exampleRobotMap
@@ -24,4 +24,3 @@ wallList =
[[3, 3], [3, 4]],
[[1, 4], [2, 4]]
]
-
diff --git a/main.py b/pathfind.py
index 097d8bd..4060ea0 100644
--- a/main.py
+++ b/pathfind.py
@@ -69,36 +69,9 @@ def getShortestPath(courseMap, startPos, endPos):
visitedCoordinates += nextPos
-def move(direction):
- # if direction = 'right':
- # moving = True
- # while moving:
- # Motors.moving etc
- # when motors.stop:
- # moving = False
- # if direction = 'left':
- # moving = True
- # while moving:
- # Motors.moving etc
- # when motors.stop:
- # moving = False
- # if direction = 'right':
- # moving = True
- # while moving:
- # Motors.moving etc
- # when motors.stop:
- # moving = False
- # if direction = 'up':
- # moving = True
- # while moving:
- # Motors.moving etc
- # when motors.stop:
- # moving = False
- return 0
-
-
def solveCourse(course, obstacles, checkpoints):
stepsLength = 0
+ courseDirections = ()
for x in range(len(checkpoints) - 1):
shortestPath = getShortestPath(course, checkpoints[x], checkpoints[x + 1])
@@ -107,26 +80,19 @@ def solveCourse(course, obstacles, checkpoints):
for i in range(len(shortestPath) - 1):
diffX = shortestPath[i + 1][0] - shortestPath[i][0]
if diffX == 1:
- move('right')
+ courseDirections = courseDirections + (90, )
elif diffX == -1:
- move('left')
-
+ courseDirections = courseDirections + (270, )
diffY = shortestPath[i + 1][1] - shortestPath[i][1]
if diffY == 1:
- move('down')
+ courseDirections = courseDirections + (180, )
elif diffY == -1:
- move('up')
-
+ courseDirections = courseDirections + (0, )
stepsLength += 1
print(shortestPath)
print("Amount of steps: %d" % (stepsLength))
+ print(courseDirections)
populateCourse(courseMap, MAPWIDTH, MAPHEIGHT)
-
-startTime = time.time()
solveCourse(courseMap, wallList, checkpointList)
-endTime = time.time()
-executionTime = endTime - startTime
-
-print("Execution Time: %.4f seconds" % executionTime)
generated by cgit v1.2.3 (git 2.39.1) at 2025-07-27 16:16:45 +0000