From e09f43becd008d4f01de75a9f7158a3b88777771 Mon Sep 17 00:00:00 2001 From: Tanja Sukal Date: Tue, 27 Aug 2024 09:40:47 +0000 Subject: [PATCH] Upload program object_sorter --- Object_Sorting/Program/Object_sorter.py | 234 ++++++++++++++++++++++++ 1 file changed, 234 insertions(+) create mode 100644 Object_Sorting/Program/Object_sorter.py diff --git a/Object_Sorting/Program/Object_sorter.py b/Object_Sorting/Program/Object_sorter.py new file mode 100644 index 0000000..0354cfc --- /dev/null +++ b/Object_Sorting/Program/Object_sorter.py @@ -0,0 +1,234 @@ +#!/usr/bin/env python3 + +from time import sleep +from ev3dev2.motor import Motor, MoveTank, SpeedPercent, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D +from ev3dev2.sensor import INPUT_2,INPUT_3,INPUT_4 +from ev3dev2.sensor.lego import ColorSensor, UltrasonicSensor, GyroSensor +from ev3dev2.led import Leds +from pixycamev3.pixy2 import Pixy2 + +class Object_Sorter(): + # Define type of global variables + state: str + last_state: str + us: UltrasonicSensor + cs: ColorSensor + gyro: GyroSensor + m_left: Motor + m_right: Motor + tank: MoveTank + leds: Leds + pixy2: Pixy2 + params: dict + states: dict + cycles: int + + # Define all inputs, outputs of the Robot and initialize + def __init__(self, **args): + # Camera and sensors are inputs + self.us = UltrasonicSensor(args.get("ultrasonic_input",INPUT_2)) + self.cs = ColorSensor(args.get("color_input",INPUT_3)) + self.gyro = GyroSensor(args.get("gyro_input",INPUT_4)) + self.pixy2 = Pixy2(port=args.get("camera_port",1), i2c_address=0x54) + # Motors are outputs + self.m_left = Motor(args.get("leftmotor_output",OUTPUT_A)) + self.m_right = Motor(args.get("rightmotor_output",OUTPUT_D)) + # Also define drive tank to move syncronized + self.tank = MoveTank(args.get("leftmotor_output",OUTPUT_A), args.get("rightmotor_output",OUTPUT_D)) + self.leds = Leds() + + # The motor is initialized to run counter-clockwise (gegen den Uhrzeigersinn) + # use 'normal' to initialize it to run clockwise (im Uhrzeigersinn) + self.m_left.polarity = args.get("leftmotor_polarity",'inversed') + self.m_right.polarity = args.get("rightmotor_polarity",'inversed') + + # Read inputs for the given experiment / enviroment + args["sig_let"] = args.get("signature_dice_remains",1) # Signatur of orange dice + args["sig_sort"] = args.get("signature_dice_sorted",2)# Signatur of green dice + args["fast"] = args.get("speed_drive", 30) # driving speed + args["slow"] = args.get("speed_search", 10) # searching speed + args["dist_us"] = args.get("distance_us",12) # detection range ultrasonic sensor + args["line"] = args.get("max_reflection_outline", 10) # max. reflection of outline + + # Safe Parameters for later, can be changed + self.params = args + + # initalization state defined + self.state = "search" # Initiate search state for beginning + self.last_state = "search" # Variable for saving last state + self.cycles = 0 # control variable + self.gyro.reset() # reset gyro sensor + + self.states = { # dictionary of the states/classes + "search": self.search, + "get": self.get, + "sort": self.sort, + "avoid": self.avoid, + "edge": self.edge + } + + # Define method/state search + def search (self): + # turn slowly aroud on place and search for blocks, + # if nothing is found change searchplace + self.leds.set_color("LEFT", "BLACK") + self.leds.set_color("RIGHT", "BLACK") + # turn on place to the right + self.m_right.on(SpeedPercent(-1*self.params["slow"])) + self.m_left.on(SpeedPercent(self.params["slow"])) + # search for blocks + nr_sort, sort_block = self.pixy2.get_blocks(self.params["sig_sort"], 2) + nr_let, let_block = self.pixy2.get_blocks(self.params["sig_let"], 2) + if self.cs.reflected_light_intensity < self.params["line"]: # if outline is reached change state to edge + self.tank.stop() + self.last_state = self.state + self.state = "edge" + elif self.us.distance_centimeters < self.params["dist_us"]: # if a block is currently in the arms change to sort + self.last_state = self.state + self.state = "sort" + elif nr_sort > 0: # when block to sort is found then change to get + self.tank.stop() + self.last_state = self.state + self.state = "get" + elif nr_let > 0: # when block that remains is found then change to avoid + self.last_state = self.state + self.state = "avoid" + elif self.gyro.angle > 720: # when the robot does not find a block drive a little bit forward + rounds=0 # rounds of driving forward + while self.cs.reflected_light_intensity > self.params["line"] and rounds <= 5: + self.tank.on(self.params["fast"],self.params["fast"]) + sleep(0.2) + rounds+=1 + if self.cs.reflected_light_intensity <= self.params["line"] : + self.tank.stop() + self.last_state = self.state + self.state = "edge" + self.gyro.reset() + rounds=0 # Reset control variable + + # Define method/state get + def get (self): + # drive twoards block and get it into arms + self.leds.set_color("LEFT", "GREEN") + self.leds.set_color("RIGHT", "BLACK") + # drive straight ahead + self.tank.on(self.params["fast"],self.params["fast"]) + # find the block for sorting again + nr_sort, sort_block = self.pixy2.get_blocks(self.params["sig_sort"], 2) + if nr_sort > 0: # if block is found again get position + x = sort_block[0].x_center #get where in the field of vision the block lays + self.cycles = 0 + else: # when block is not found, virtually place the robot in the middle of the vision + x = 130 + self.cycles +=1 + if 4 <= self.cycles < 6: # camera has not found block for 4 cycles + self.tank.on_for_seconds(-1*self.params["fast"],-1*self.params["fast"],0.4) # drive backwards max. 2 times + elif 6 == self.cycles: # if block is not found drive a little bit to left + self.m_right.on(SpeedPercent(self.params["slow"])) + self.m_left.on(SpeedPercent(-1*self.params["slow"])) + sleep(0.2) + elif self.cycles > 6: # when block is still not found go back to search + self.cycles = 0 + self.state = "search" + self.gyro.reset() + # Decide what robot should do with the gathered information + if self.cs.reflected_light_intensity < self.params["line"]: # robot detected line change to edge + self.tank.stop() + self.last_state = self.state + self.state = "edge" # When colorsensor detects line then switch state + elif self.us.distance_centimeters <= self.params["dist_us"]: # block is in the arms of robot change to sort + self.last_state = self.state + self.state = "sort" # when block distance is small switch state + else: # correct drive direction to get block into arms + # when block on left side drive more left + if x < 110: # turn left + self.m_right.on(SpeedPercent(self.params["slow"])) + self.m_left.on(SpeedPercent(-1*self.params["slow"])) + # when block on right side drive more right + elif x > 150: # turn right + self.m_right.on(SpeedPercent(-1*self.params["slow"])) + self.m_left.on(SpeedPercent(self.params["slow"])) + + + # Define method/state sort + def sort (self): + # block is caught, drive to the edge + self.leds.set_color("LEFT", "GREEN") + self.leds.set_color("RIGHT", "GREEN") + # drive straight ahead + self.tank.on(self.params["fast"],self.params["fast"]) + # search for block to let be in area + nr_let, let_block = self.pixy2.get_blocks(sig_let, 2) + if self.cs.reflected_light_intensity < self.params["line"]: # when reached line change to edge + self.tank.stop() + self.last_state = self.state + self.state = "edge" + elif nr_let > 0: + self.last_state = self.state + self.state = "avoid" + + # Define method/state avoid + def avoid (self): + # found green block, do not want to kick it out + self.leds.set_color("LEFT", "ORANGE") + self.leds.set_color("RIGHT", "ORANGE") + # search for green block again + nr_let, let_block = self.pixy2.get_blocks(sig_let, 2) + if nr_let > 0: # if block is found again get position + x = let_block[0].x_center # get where in the field of vision the block lays + else: # when block is not found, virtually place the robot in the middle of the vision + x = 130 + # When block lays in middle of the vision drive around it + if 100 < x < 150: + self.m_right.on(SpeedPercent(-1*self.params["fast"])) + self.m_left.on(SpeedPercent(self.params["fast"])) + sleep(0.2) + self.state = self.last_state + self.last_state = "avoid" + + # Define method/state edge + def edge (self): + # robot reached outerline and should turn around + self.leds.set_color("LEFT", "BLACK") + self.leds.set_color("RIGHT", "RED") + self.gyro.reset() # reset gyro sensor + # drive straight backwards + self.tank.on_for_rotations(-1*self.params["fast"],-1*self.params["fast"],2) + while self.gyro.angle < 100: #turn around for 100 degrees + self.m_right.on(SpeedPercent(-1*self.params["fast"])) + self.m_left.on(SpeedPercent(self.params["fast"])) + self.last_state = self.state + self.state = "search" + self.gyro.reset() # reset gyro sensor again + + def get_params(self): + return self.params + + def run(self): + print('start') + while True: # endless-loop for switching states + func = self.states.get(self.state) # function that gets state + func() # activate current state + sleep(0.3) # wait for 0.3 seconds between the different states + +if __name__ == "__main__": + # All arguments that can be changed are given here + arguments = dict( + #ultrasonic_input = INPUT_2, + #color_input = INPUT_3, + #gyro_input = INPUT_4, + #camera_port = 1, + #leftmotor_output = OUTPUT_A, + #rightmotor_output = OUTPUT_D, + #signature_dice_remains = 1, + #signature_dice_sorted = 2, + #speed_drive = 30, + #speed_search = 10, + #distance_us =10, + max_reflection_outline = 10 + + ) + + os = Object_Sorter(**arguments) + os.run() + \ No newline at end of file