commit by robo pro coding

Buggy_Line_Follower_with_P_Controller.py

-from lib.controller import *
 import time
-from fischertechnik.controller.Motor import Motor
 import math
+
+from lib.controller import *
+from fischertechnik.controller.Motor import Motor
 from lib.camera import *
 from numbers import Number
 
@@ -16,12 +17,14 @@ 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:
+        line_color = event.value[int(index-1)].color.get_rgb()
+        if line_color[0] < 50 and line_color[1] < 50 and line_color[2] < 50:
             deviation = event.value[int(index-1)].position
             break
         index = (index if isinstance(index, Number) else 0) + 1
@@ -29,42 +32,43 @@ def lines_callback(event):
 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
+speed = 380
+kp = 0.85
 deviation = 0
 last_deviation = deviation
-TXT_O5_led.set_brightness(512)
+TXT_M_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)
+TXT_M_M1_encodermotor.set_speed(int(speed), Motor.CCW)
+TXT_M_M1_encodermotor.start_sync()
+TXT_M_M2_encodermotor.set_speed(int(speed), Motor.CCW)
+TXT_M_M2_encodermotor.start_sync()
 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_left = speed + min([speed_alignment, 512 - speed])
             speed_right = speed - min([speed_alignment, speed])
         elif speed_alignment < 0:
             speed_left = speed + max([speed_alignment, -speed])
-            speed_right = speed
+            speed_right = speed - max([speed_alignment, speed - 512])
         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()
+        TXT_M_M1_encodermotor.set_speed(int(speed_left), Motor.CCW)
+        TXT_M_M1_encodermotor.start_sync()
+        TXT_M_M2_encodermotor.set_speed(int(speed_right), Motor.CCW)
+        TXT_M_M2_encodermotor.start_sync()
         log_data()
     time.sleep(0.02)
 
+

lib/camera.py

@@ -2,11 +2,12 @@
 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()
+TXT_M_USB_1_camera.set_rotate(False)
+TXT_M_USB_1_camera.set_height(240)
+TXT_M_USB_1_camera.set_width(320)
+TXT_M_USB_1_camera.set_fps(15)
+TXT_M_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)
+line_detector = txt_factory.camera_factory.create_line_detector(0, 60, 320, 20, 30, 130, -160, 160, 3)
+TXT_M_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>
\ No newline at end of file
+<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>130</max_line_width><start_range_value>-160</start_range_value><end_range_value>160</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>
\ No newline at end of file

lib/controller.blockly

-<xml xmlns="https://developers.google.com/blockly/xml" version="9">
+<xml xmlns="https://developers.google.com/blockly/xml" version="12">
   <block type="txt4_controller" id="v}Wf^VN(H6-Q3:$II]KJ" x="86" y="69">
     <mutation>
       <arg type="Input" name="Input-0" value="-"/>
@@ -27,7 +27,7 @@
     <field name="USB-0">USB_1</field>
     <field name="USB-1">-</field>
     <value name="Output-0">
-      <block type="led" id="]Wq5=g5:oL3DUYw`fO#7"/>
+      <block type="led" id="kh$y;?n1!R6~k@Hvxg{u"/>
     </value>
     <value name="Motor-0">
       <block type="encodermotor" id="WpKi`VJ3XVuCOUuTc^=w"/>

lib/controller.py

 import fischertechnik.factories as txt_factory
 
-
-txt_factory.init_controller_factory()
+txt_factory.init()
 txt_factory.init_output_factory()
 txt_factory.init_motor_factory()
 txt_factory.init_usb_factory()
 txt_factory.init_camera_factory()
 
+TXT_M = txt_factory.controller_factory.create_graphical_controller()
+TXT_M_O5_led = txt_factory.output_factory.create_led(TXT_M, 5)
+TXT_M_M1_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_M, 1)
+TXT_M_M2_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_M, 2)
+TXT_M_USB_1_camera = txt_factory.usb_factory.create_camera(TXT_M, 1)
 
-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)
+txt_factory.initialized()
\ No newline at end of file