ch-10 clean

2022-03-20 22:31:18 +00:00
parent c632222255
commit b595f3be54
14 changed files with 369 additions and 356 deletions
@@ -2,53 +2,54 @@ import time
 import robot
 import pid

+
 class FollowObject:
-  def __init__(self):
-    self.max_speed = 0.9
-    self.follow_pid = pid.PID(0.1, 0.1, 0.015, 15)
-    self.last_time = time.monotonic_ns()
-    self.left_dist = 0
-    self.pid_output = 0
+    def __init__(self):
+        self.max_speed = 0.9
+        self.follow_pid = pid.PID(0.1, 0.1, 0.015, 15)
+        self.last_time = time.monotonic()
+        self.left_dist = 0
+        self.pid_output = 0

-  def setup_robot(self):
-    robot.left_distance.distance_mode = 1
+    def setup_robot(self):
+        robot.left_distance.distance_mode = 1

-  def movement_update(self):
-    # do we have data
-    if robot.left_distance.data_ready:
-      self.left_dist = robot.left_distance.distance
-      
-      # calculate time delta
-      new_time = time.monotonic_ns()
-      time_delta = new_time - self.last_time
-      self.last_time = new_time
+    def movement_update(self):
+        # do we have data
+        if robot.left_distance.data_ready:
+            self.left_dist = robot.left_distance.distance

-      # get speeds from pid
-      self.pid_output = self.follow_pid.update(self.left_dist, time_delta)
-      speed = min(self.max_speed, self.pid_output)
-      speed = max(-self.max_speed, speed)
+            # calculate time delta
+            new_time = time.monotonic()
+            time_delta = new_time - self.last_time
+            self.last_time = new_time

-      # make movements
-      robot.set_left(speed)
-      robot.set_right(speed)
+            # get speeds from pid
+            self.pid_output = self.follow_pid.update(self.left_dist, time_delta)
+            speed = min(self.max_speed, self.pid_output)
+            speed = max(-self.max_speed, speed)

-      # reset and loop
-      robot.left_distance.clear_interrupt()
+            # make movements
+            robot.set_left(speed)
+            robot.set_right(speed)

-  def main_loop(self):
-    robot.left_distance.start_ranging()
-    self.last_time = time.monotonic()
-    while True:
-      self.movement_update()
+            # reset and loop
+            robot.left_distance.clear_interrupt()
+
+    def main_loop(self):
+        robot.left_distance.start_ranging()
+        while True:
+            self.movement_update()
+
+    def start(self):
+        print("Starting")
+        try:
+            self.setup_robot()
+            self.main_loop()
+        finally:
+            robot.stop()
+            robot.left_distance.clear_interrupt()
+            robot.left_distance.stop_ranging()

-  def start(self):
-    print("Starting")
-    try:
-      self.setup_robot()
-      self.main_loop()
-    finally:
-      robot.stop()
-      robot.left_distance.clear_interrupt()
-      robot.left_distance.stop_ranging()

 FollowObject().start()