commit by robo pro coding

.project.json

+{"name":"Buggy_Line_Follower_with_P_Controller","mode":"ADVANCED","uuid":"d5afebef-2128-72cb-331e-53289dcee298"}
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Buggy_Line_Follower_with_P_Controller.py

+from lib.controller import *
+import time
+from fischertechnik.controller.Motor import Motor
+import math
+from lib.camera import *
+from numbers import Number
+
+
+speed = None
+index = None
+kp = None
+deviation = None
+line_color = None
+speed_alignment = None
+last_deviation = None
+change = None
+speed_left = None
+speed_right = None
+def lines_callback(event):
+    global speed, index, kp, deviation, line_color, speed_alignment, last_deviation, change, speed_left, speed_right
+    index = 1
+    while index <= len(event.value):
+        line_color = event.value[int(index-1)].color.rgb
+        if line_color[0] < 100 and line_color[1] < 100 and line_color[2] < 100:
+            deviation = event.value[int(index-1)].position
+            break
+        index = (index if isinstance(index, Number) else 0) + 1
+
+line_detector.add_detection_listener(lines_callback)
+
+
+
+def log_data():
+    global speed, index, kp, deviation, line_color, speed_alignment, last_deviation, change, speed_left, speed_right
+    print(''.join([str(x) for x in [deviation, ', ', speed_alignment]]))
+
+
+speed = 350
+kp = 1.85
+deviation = 0
+last_deviation = deviation
+TXT_O5_led.set_brightness(512)
+while True:
+    if (deviation != 0):
+        break
+    time.sleep(0.010)
+TXT_M1_encodermotor.set_speed(int(speed), Motor.CCW)
+TXT_M2_encodermotor.set_speed(int(speed), Motor.CCW)
+TXT_M1_encodermotor.start_sync(TXT_M2_encodermotor)
+while True:
+    change = deviation - last_deviation
+    last_deviation = deviation
+    if change != 0:
+        speed_alignment = round(deviation * kp)
+        if speed_alignment > 0:
+            speed_left = speed
+            speed_right = speed - min([speed_alignment, speed])
+        elif speed_alignment < 0:
+            speed_left = speed + max([speed_alignment, -speed])
+            speed_right = speed
+        else:
+            speed_left = speed
+            speed_right = speed
+        TXT_M1_encodermotor.set_speed(int(speed_left), Motor.CCW)
+        TXT_M1_encodermotor.start_sync()
+        TXT_M2_encodermotor.set_speed(int(speed_right), Motor.CCW)
+        TXT_M2_encodermotor.start_sync()
+        log_data()
+    time.sleep(0.02)
+

lib/camera.py

+# auto generated content from camera configuration
+from lib.controller import *
+import fischertechnik.factories as txt_factory
+
+TXT_USB_1_camera.set_width(320)
+TXT_USB_1_camera.set_height(240)
+TXT_USB_1_camera.set_fps(15)
+TXT_USB_1_camera.start()
+
+line_detector = txt_factory.camera_factory.create_line_detector(0, 60, 320, 20, 30, 100, -100, 100, 3)
+TXT_USB_1_camera.add_detector(line_detector)
+

lib/camera.xml

+<xml type="camera" verion="1" width="320" height="240" fps="15" version="2"><item id="2" class="LineDetector"><name>line_detector</name><min_line_width>30</min_line_width><max_line_width>100</max_line_width><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><number_of_lines>3</number_of_lines><geometry><x>0</x><y>60</y><width>320</width><height>20</height></geometry></item></xml>
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lib/controller.blockly

+<xml xmlns="https://developers.google.com/blockly/xml" version="9">
+  <block type="txt4_controller" id="v}Wf^VN(H6-Q3:$II]KJ" x="86" y="69">
+    <mutation>
+      <arg type="Input" name="Input-0" value="-"/>
+      <arg type="Output" name="Output-0" value="O5"/>
+      <arg type="Output" name="Output-1" value="-"/>
+      <arg type="Motor" name="Motor-0" value="M1"/>
+      <arg type="Motor" name="Motor-1" value="M2"/>
+      <arg type="Motor" name="Motor-2" value="-"/>
+      <arg type="Servomotor" name="Servomotor-0" value="-"/>
+      <arg type="Counter" name="Counter-0" value="-"/>
+      <arg type="I2C" name="I2C-0" value="-"/>
+      <arg type="USB" name="USB-0" value="USB_1"/>
+      <arg type="USB" name="USB-1" value="-"/>
+    </mutation>
+    <field name="mode">0</field>
+    <field name="controller_name">TXT</field>
+    <field name="Input-0">-</field>
+    <field name="Output-0">O5</field>
+    <field name="Output-1">-</field>
+    <field name="Motor-0">M1</field>
+    <field name="Motor-1">M2</field>
+    <field name="Motor-2">-</field>
+    <field name="Servomotor-0">-</field>
+    <field name="Counter-0">-</field>
+    <field name="I2C-0">-</field>
+    <field name="USB-0">USB_1</field>
+    <field name="USB-1">-</field>
+    <value name="Output-0">
+      <block type="led" id="]Wq5=g5:oL3DUYw`fO#7"/>
+    </value>
+    <value name="Motor-0">
+      <block type="encodermotor" id="WpKi`VJ3XVuCOUuTc^=w"/>
+    </value>
+    <value name="Motor-1">
+      <block type="encodermotor" id="7E{.a)tBHsGHIm^uK-lc"/>
+    </value>
+    <value name="USB-0">
+      <block type="camera" id="?NXT}ke#b0b2ak*:{$?B"/>
+    </value>
+  </block>
+</xml>
\ No newline at end of file

lib/controller.py

+import fischertechnik.factories as txt_factory
+
+
+txt_factory.init_controller_factory()
+txt_factory.init_output_factory()
+txt_factory.init_motor_factory()
+txt_factory.init_usb_factory()
+txt_factory.init_camera_factory()
+
+
+TXT = txt_factory.controller_factory.create_graphical_controller()
+TXT_O5_led = txt_factory.output_factory.create_led(TXT, 5)
+TXT_M1_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT, 1)
+TXT_M2_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT, 2)
+TXT_USB_1_camera = txt_factory.usb_factory.create_camera(TXT, 1)