SR2026/Search_algorithm.py at main · systemetric/SR2026 · GitHub

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from turtle import distance
from sr.robot3 import Robot, A0, A1, A2, A3, A4, A5, AnalogPins
robot = Robot()
import math
from markerDict import *

motor_board_1 = robot.motor_boards["SR0QAL"]
my_arduino = robot.arduinos["75230313833351618121"]

marker_dict = {0: 'arena', 1: 'arena', 2: 'arena', 3: 'arena', 4: 'arena', 5: 'arena', 6: 'arena', 7: 'arena', 8: 'arena', 9: 'arena', 10: 'arena', 11: 'arena', 12: 'arena', 13: 'arena', 14: 'arena', 15: 'arena', 16: 'arena', 17: 'arena', 18: 'arena', 19: 'arena', 100: 'acid', 101: 'acid', 102: 'acid', 103: 'acid', 104: 'acid', 105: 'acid', 106: 'acid', 107: 'acid', 108: 'acid', 109: 'acid', 110: 'acid', 111: 'acid', 112: 'acid', 113: 'acid', 114: 'acid', 115: 'acid', 116: 'acid', 117: 'acid', 118: 'acid', 119: 'acid', 120: 'acid', 121: 'acid', 122: 'acid', 123: 'acid', 124: 'acid', 125: 'acid', 126: 'acid', 127: 'acid', 128: 'acid', 129: 'acid', 130: 'acid', 131: 'acid', 132: 'acid', 133: 'acid', 134: 'acid', 135: 'acid', 136: 'acid', 137: 'acid', 138: 'acid', 139: 'acid', 140: 'basic', 141: 'basic', 142: 'basic', 143: 'basic', 144: 'basic', 145: 'basic', 146: 'basic', 147: 'basic', 148: 'basic', 149: 'basic', 150: 'basic', 151: 'basic', 152: 'basic', 153: 'basic', 154: 'basic', 155: 'basic', 156: 'basic', 157: 'basic', 158: 'basic', 159: 'basic', 160: 'basic', 161: 'basic', 162: 'basic', 163: 'basic', 164: 'basic', 165: 'basic', 166: 'basic', 167: 'basic', 168: 'basic', 169: 'basic', 170: 'basic', 171: 'basic', 172: 'basic', 173: 'basic', 174: 'basic', 175: 'basic', 176: 'basic', 177: 'basic', 178: 'basic', 179: 'basic'}

#degrees per second
turn_speed = 210
#meters per second
estimated_speed = 1.5
#Home marker
home_marker = 0
#Detection distance for driving and grabbing
detection_distance = 1000

search = True
blank_dist = robot.arduino.ultrasound_measure(9, 10)
print(f"arduino measure 1: {robot.arduino.ultrasound_measure(9, 10)}")
print(f"arduino measure 2: {robot.arduino.ultrasound_measure(9, 10)}")

def right(motor_board):
    motor_board.motors[0].power = 0.5
    motor_board.motors[1].power = 0.5

def left(motor_board):
    motor_board.motors[0].power = -0.5
    motor_board.motors[1].power = -0.5

def forward(motor_board):
    motor_board.motors[1].power = 0.5
    motor_board.motors[0].power = -0.5

def backward(motor_board):
    motor_board.motors[1].power = -0.5
    motor_board.motors[0].power = 0.5

def stop(motor_board):
    motor_board.motors[1].power = 0
    motor_board.motors[0].power = 0

def check_marker(marker_id):
    return marker_dict[marker_id]

def set_servos(servo_pos):
    robot.servo_board.servos[0].position = -servo_pos
    robot.servo_board.servos[1].position = servo_pos
    robot.servo_board.servos[2].position = servo_pos
    robot.servo_board.servos[3].position = servo_pos
    print(f"servo pos: {robot.servo_board.servos[0].position}")

def search_turn():
    print("Turning to find marker")
    left(motor_board_1)
    robot.sleep(0.1)
    stop(motor_board_1)
    robot.sleep(0.2)

def alignment_turn(h_rot):
    if h_rot > 0:
        right(motor_board_1)
        robot.sleep(abs(h_rot/turn_speed))
    elif h_rot < 0:
        left(motor_board_1)
        robot.sleep(abs(h_rot/turn_speed))
    stop(motor_board_1)
    print(f"rotation angle: {h_rot}")


set_servos(0.3)
#Inital search
got_first_cube = False
while got_first_cube == False:
    search_distance = 10000
    distance = 10000
    print("Inital search")
    markers = robot.camera.see()
    while len(markers) == 0:
        search_turn()
        robot.sleep(0.5)
        markers = robot.camera.see()
    while distance > detection_distance:
        print(f"Marker distance: {distance}")
        robot.sleep(0.5)
        acid = False
        while acid == False:
            marker_list_pos = 0
            markers = robot.camera.see()
            print(f"{len(markers)} markers seen")
            for marker in markers:
                print(f"Marker: {marker.id}, {check_marker(marker.id)}")
                if check_marker(marker.id) == "acid" and marker.position.distance < search_distance:
                    search_distance = marker.position.distance
                    print(f"Search distance: {search_distance}")
                    collecting_marker_id = marker.id
                    print(f"Collecting marker id: {collecting_marker_id}")
                    marker_list_position = marker_list_pos
                    print(f"marker_list_pos {marker_list_pos}")
                    acid = True
                elif marker_list_pos == len(markers):
                    search_turn()
                marker_list_pos += 1
                print(f"Marker list pos: {marker_list_pos}")
        h_rot = ((markers[marker_list_position].position.horizontal_angle)/(2*math.pi))*360
        alignment_turn(h_rot)
        robot.sleep(0.5)
        markers = robot.camera.see()
        marker_list_pos = 0
        for marker in markers:
            if marker.id == collecting_marker_id:
                if marker.position.distance > detection_distance and marker.position.distance != "":
                    marker_list_position = marker_list_pos
            marker_list_pos += 1
        print(f"Marker drive distance: {markers[marker_list_position].position.distance}")
        forward(motor_board_1)
        robot.sleep((markers[marker_list_position].position.distance/1000) / estimated_speed)
        stop(motor_board_1)
        distance = markers[marker_list_position].position.distance


    search = True
    while search == True:
                got_cube = False
                print("switching to ultrasound")
                #pot input A0
                previous_distance_mm = marker.position.distance + 50
                distance_mm = robot.arduino.ultrasound_measure(9, 10)
                print(f"inital ultrasound distance: {distance_mm}")
                while distance_mm <= (previous_distance_mm + 100) and got_cube == False:
                    print("grab loop")
                    if distance_mm != 0:
                        previous_distance_mm = distance_mm
                    distance_mm = robot.arduino.ultrasound_measure(9, 10)
                    print(f"ultrasound distance: {distance_mm}")
                    travel_time = abs((distance_mm-150)/1000) / (estimated_speed)
                    robot.sleep(0.5)
                    if travel_time > 0:
                        forward(motor_board_1)
                        print("forward")
                        robot.sleep(travel_time)
                        stop(motor_board_1)
                        print("stop")
                        robot.sleep(0.5)
                    if distance_mm < 180 and distance_mm > 120:
                        set_servos(0.8)
                        got_cube = True
                        print("got cube")
                        robot.sleep(1)
                        search = False
                        print("finished search")
                    elif distance_mm <= 120:
                        travel_time = abs((200-distance_mm)/1000)/(estimated_speed)
                        backward(motor_board_1)
                        robot.sleep(0.25)
                        stop(motor_board_1)
                    else:
                        set_servos(0.4)
                    print(f"servo pos: {robot.servo_board.servos[0].position}")
    got_first_cube = True