Khepera

[Briz]

Hey everyone, I have a project in which I need to program a Khepera robot too navigate through a maze and find a beacon on the first run.
*On the second run it must go to the bacon via the shortest path.
*The grid is a 4*3 (so i have to use an array).
*Furthermore it must realign it self (according to the surrounding walls). I know this sounds very confusing, so if you dont understand please let me know.
*At the moment I am having great difficulty with it realign itself (it keeps hitting the wall).
*I have to write the program on computer the send through a cable. im not sure what more i can tell you other the I need help :S.
*Also I have tried to use the simulator but with no success.

Thanks so much in advance.
(P.S. I may take some time to reply as I dont always have access to the net, thank)

[jlm699]

So... where's your code? Where are your errors? Please read the posting guidelines, and get to know them. If you follow the posting guidelines we can actually help you.

[Briz]

Sorry about that, im still learning the rules, but thanks for the advice. Heres my code and i forgot to mention that each block in the array is 10cm (*Please Note : i have not uploaded my array code yet as i am still working on it!!!), Thanks

import serial,math,string,time,msvcrt
wheelSpeeds=[5,5]

class Myrobot:
def __init__(self,speed = 9600,port=0,stopbits=2):
self.speed = speed
self.port = port
self.stopbits = 2

def connect(self):
" connects the serial port "
self.serial = serial.Serial(baudrate=self.speed,port=self.port,
stopbits=self.stopbits)
self.serial.open()
print self.serial.isOpen()
print self.serial
print self.serial.parity
self.serial.write("G,0,0\n")
print self.serial.readline()

def disconnect(self):
self.serial.close()
#new function
def reset(self):
self.serial.write("G,0,0\n")
print self.serial.readline()
#new function
def readPos(self):
self.serial.write("H\n")
print self.serial.readline()

#Purpose: Sets the speed of wheel in mm/sec, range is 0<speed<=1000 mm/sec.
def move(self,leftSpeed,rightSpeed):
leftSpeed=(leftSpeed*127)/1000
rightSpeed=(rightSpeed*127)/1000
command = "D,"+str(leftSpeed)+","+str(rightSpeed)+"\n"
self.serial.write(command)
self.serial.readline()
self.serial.write("E \n")
self.serial.readline()

#Purpose: Maks robot move forward indefinitely.
def moveForward(self):
command="D,"+str(wheelSpeeds[0])+","+str(wheelSpeeds[1])+"\n"
self.serial.write(command)
self.serial.readline()

#Purpose: Make robot move backword indefinitely.
def moveBackward(self):
commmand="D,-"+str(wheelSpeeds[0])+",-"+str(wheelSpeeds[1])+"\n"
self.serial.write(command)
self.serial.readline()

#Purpose: Makes robot move forward n millimeters, range is 0<distance<=670000mm.
def moveForwardDistance(self,distance):
self.reset()
rotations=(distance*1000)/80
leftCounter=rotations
rightCounter=rotations
command="C,"+str(leftCounter)+","+str(rightCounter)+"\n"
self.serial.write(command)
self.serial.readline()
print str(leftCounter) + " " + str(rightCounter);

#Purpose: Makes robot move backward n millimeters.
def moveBackwardDistance(self,distance):
self.reset()
rotations=(distance*1000)/80
leftCounter=-rotations
rightCounter=-rotations
command="C,"+str(leftCounter)+","+str(rightCounter)+"\n"
self.serial.write(command)
self.serial.readline()
print str(leftCounter) + " " + str(rightCounter);

#Purpose: Makes robot stop.
def stop(self):
command="D,0,0\n"
self.serial.write(command)
self.serial.readline()

#Purpose: Makes robot turn left degrees passed as parameter.
def turnLeft(self,degree):
self.reset()
counter=(1035*degree)/180
if((float(1035*degree)/180)>=90):
counter=counter+1
leftCounter=-counter
rightCounter=counter
self.serial.write("D,0,0\n")
self.serial.readline()
command="C,"+str(leftCounter)+","+str(rightCounter)+"\n"
self.serial.write(command)
self.serial.readline()
print str(leftCounter) + " " + str(rightCounter);

#Purpose: Makes robt turn right degrees passed as parameter.
def turnRight(self,degree):
self.reset()
counter=(1035*degree)/180
if((float(1035*degree)/180)>=90):
counter=counter+1
leftCounter=counter
rightCounter=-counter
self.serial.write("D,0,0\n")
self.serial.readline()
command="C,"+str(leftCounter)+","+str(rightCounter)+"\n"
self.serial.write(command)
self.serial.readline()
print str(leftCounter) + " " + str(rightCounter);

#Purpose: Reads the speeds of wheels.
def wheelSpeeds(self):
self.serial.write("E\n")
reply=self.serial.readline()
rawdata=string.split(reply,",")
for i in range(2):
speeds=string.atoi(rawdata[i+1])
for i in range(2):
print speeds

def getLeftWheelSpeed(self):
print speeds[0]

def getRightWheelSpeed(self):
print speeds[1]

#Purpose: Reads the values of each of eight light sensors.
def readLightSensors(self):
self.serial.write("O\n")
reply=self.serial.readline()
self.LightSensors=string.split(reply,",")
print self.LightSensors
for i in range(8):
self.LightSensors=string.atoi(self.LightSensors[i+1])
return self.LightSensors

#Purpose: Display the values of each of eight light sensors.
def writeLightSensors(self):
for i in range(8):
print self.LightSensors

#Purpose: Display the value of requested sensor as numbered.
def getLightSensor(self,s):
print self.LightSensors[s]
return self.LightSensors[s]

#Purpose: Reads the values of each of eight proximity sensors.
def readProxSensors(self):
self.serial.write("N\n")
reply=self.serial.readline()
self.ProxSensors=string.split(reply,",")
print self.ProxSensors
for i in range(8):
self.ProxSensors=string.atoi(self.ProxSensors[i+1])
return self.ProxSensors

#Purpose: Display the values of each of eight proximity sensors.
def writeProxSensors(self):
for i in range(8):
print self.ProxSensors

#Purpose: Display the value of requested sensor as numbered.
def getProxSensor(self,t):
print self.ProxSensors[t]
return self.ProxSensors[t]

if __name__ == '__main__':
r=Myrobot()
r.connect()

def obsFront(r):
r.readProxSensors()
if (r.getProxSensor(2)>500 and r.getProxSensor(3)>500):
return 1
else:
return 0

def obsRight(r):
r.readProxSensors()
if (r.getProxSensor(4)>200 and r.getProxSensor(5)>370):
return 1
else:
return 0

def obsLeft(r):
r.readProxSensors()
if (r.getProxSensor(0)>385 and r.getProxSensor(1)>95):
return 1
else:
return 0

def wallDistLeft(r):
r.readProxSensors()
if (375<r.getProxSensor(0)<385 and 85<r.getProxSensor(1)<95):
return 1
else:
return 0

def wallDistRight(r):
r.readProxSensors()
if (185<r.getProxSensor(4)<200 and 355<r.getProxSensor(5)<370):
return 1
else:
return 0

def nothingFront(r):
r.readProxSensors()
if (r.getProxSensor(2) < 500 and r.getProxSensor(3) < 500):
return 1
else:
return 0

def nothingRight(r):
r.readProxSensors()
if (r.getProxSensor(4) < 200 and r.getProxSensor(5) < 370):
return 1
else:
return 0

def nothingLeft(r):
r.readProxSensors()
if (r.getProxSensor(0) < 385 and r.getProxSensor(1) < 95):
return 1
else:
return 0

#stop your robot by pressing any key on the keyboard.
while not msvcrt.kbhit():

if nothingFront(r) and nothingLeft(r) and nothingRight(r):
r.moveForwardDistance(100)
time.sleep(1)
count = 0

elif obsLeft(r):
r.move(0.3,-0.1)

elif obsRight(r):
print "turn slight toward"
self.move(0.3,0.1)

#elif nothingLeft(r):
# r.move(10+count,40)
# if (count < 30):
# count = count + 1

#elif (nothingFront(r) and nothingLeft(r) and nothingRight(r)):

#time.sleep(1)
# r.move(50,50)
#else:
# r.move(40,40)
#r.turnLeft(180)
# time.sleep(3)

r.stop()
r.disconnnect()

[mathijs]

i suggest you start with properly intending your code. that wil allow it to work and make it easier to read

[Briz]

i suggest you start with properly intending your code. that wil allow it to work and make it easier to read

*I had the code indented correctly when i ran it but when i copied it over it shifted all text to the left.
*What I am trying to achieve at the moment is to get the robot to realign itself should it travel away from the straight line.
*Here is a copy of my code in txt format as i do not have access to python at the moment.

Thank you again

[Freaky_Chris]

The reason your code got shifted to the left was because you didn't use code tags, another thing pointed out in posting guide lines