92 lines
2.3 KiB
Python
92 lines
2.3 KiB
Python
"""
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Autopilot-Klasse schmeisst Exceptions und stoppt Erinaco bei Fehlern
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@author kf
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@since 2017-04-15
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Status-Codes
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0: Stopp
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1: Forward
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2: Backward
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3: Left
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4: Right
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"""
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#Bewegungs-Exeptions:
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class MoveException(Exception):
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pass
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class RightMoveException(MoveException):
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pass
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class LeftMoveException(MoveException):
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pass
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class ForwardMoveException(MoveException):
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pass
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#Hauptklasse
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from core import Core as CORE
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from time import sleep
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class Autopilot(CORE):
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def __init__(self):
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CORE.__init__(self);
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self.moveStatus=0;
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self.ultraschalminimum=10;
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def statusTest(self):
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switcher = {
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1: lambda: self.testForward(),
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3: lambda: self.testLeft(),
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4: lambda: self.testRight(),
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}
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func = switcher.get(self.moveStatus, lambda:"Error")
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return func();
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def testLeft(self):
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if(self.ultraschallLinksValue<=self.ultraschalminimum or self.infarotLinks.getValue()):
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self.stop();
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raise LeftMoveException("Abstand Ultraschall-Links betraegt {0}cm und Infarot-Links hat Wert {1}"
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.format(
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self.ultraschallLinksValue,
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self.infarotLinksValue
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)
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);
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def testRight(self):
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if(self.infarotMitteRechtsValue<=self.ultraschalminimum or self.infarotRechtsValue):
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self.stop();
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raise RightMoveException("Abstand Ultraschall-Rechts betraegt {0}cm und Infarot-Rechts hat Wert {1}".
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format(
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self.infarotMitteRechtsValue,
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self.infarotRechtsValue
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)
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);
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def testForward(self):
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if(self.ultraschallMitteValue<=self.ultraschalminimum
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or self.ultraschallRechtsValue<=self.ultraschalminimum
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or self.ultraschallLinksValue<=self.ultraschalminimum
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or self.infarotMitteLinksValue
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or self.infarotMitteRechtsValue):
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self.stop();
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raise ForwardMoveException("Abstand Ultraschallmitte betraegt {0}cm. Infarot-Mitte-Links: {1}. Infarot-Mitte-Rechts:{2}".
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format(
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self.ultraschallMitteValue,
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self.infarotMitteLinksValue,
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self.infarotMitteRechtsValue)
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);
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def turnLeft(self):
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self.moveStatus=3;
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self.statusTest();
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CORE.turnLeft(self);
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def turnRight(self):
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self.moveStatus=4;
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self.statusTest();
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CORE.turnRight(self);
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def forward(self):
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self.moveStatus=1;
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self.statusTest();
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CORE.forward(self);
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def backward(self):
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self.moveStatus=2;
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self.statusTest();
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CORE.backward(self);
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def stop(self):
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self.moveStatus=0;
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self.statusTest();
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CORE.stop(self);
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