Delete Line_Follow.py

Line_Follow.py

-#!/usr/bin/python
-# -*- coding:utf-8 -*-
-import RPi.GPIO as GPIO
-from AlphaBot2 import AlphaBot2
-from rpi_ws281x import Adafruit_NeoPixel, Color
-from TRSensors import TRSensor
-import time
-
-Button = 7
-
-GPIO.setmode(GPIO.BCM)
-GPIO.setwarnings(False)
-GPIO.setup(Button,GPIO.IN,GPIO.PUD_UP)
-
-# LED strip configuration:
-LED_COUNT	   = 4		# Number of LED pixels.
-LED_PIN		   = 18		 # GPIO pin connected to the pixels (must support PWM!).
-LED_FREQ_HZ    = 800000  # LED signal frequency in hertz (usually 800khz)
-LED_DMA		   = 5		 # DMA channel to use for generating signal (try 5)
-LED_BRIGHTNESS = 255	 # Set to 0 for darkest and 255 for brightest
-LED_INVERT	   = False	 # True to invert the signal (when using NPN transistor level shift)	
-
-maximum = 100;
-j = 0
-integral = 0;
-last_proportional = 0
-
-def Wheel(pos):
-#	"""Generate rainbow colors across 0-255 positions."""
-	if pos < 85:
-		return Color(pos * 3, 255 - pos * 3, 0)
-	elif pos < 170:
-		pos -= 85
-		return Color(255 - pos * 3, 0, pos * 3)
-	else:
-		pos -= 170
-		return Color(0, pos * 3, 255 - pos * 3)
-
-# Create NeoPixel object with appropriate configuration.
-strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, LED_FREQ_HZ, LED_DMA, LED_INVERT, LED_BRIGHTNESS)
-# Intialize the library (must be called once before other functions).
-strip.begin()
-strip.setPixelColor(0, Color(100, 0, 0))	   #Red
-strip.setPixelColor(1, Color(0, 100, 0))	   #Blue
-strip.setPixelColor(2, Color(0, 0, 100))	   #Green
-strip.setPixelColor(3, Color(100, 100, 0))	   #Yellow
-strip.show()
-
-TR = TRSensor()
-Ab = AlphaBot2()
-Ab.stop()
-print("Line follow Example")
-time.sleep(0.5)
-for i in range(0,100):
-	if(i<25 or i>= 75):
-		Ab.right()
-		Ab.setPWMA(30)
-		Ab.setPWMB(30)
-	else:
-		Ab.left()
-		Ab.setPWMA(30)
-		Ab.setPWMB(30)
-	TR.calibrate()
-Ab.stop()
-print(TR.calibratedMin)
-print(TR.calibratedMax)
-while (GPIO.input(Button) != 0):
-	position,Sensors = TR.readLine()
-	print(position,Sensors)
-	time.sleep(0.05)
-Ab.forward()
-print("about to follow")
-while True:
-	position,Sensors = TR.readLine()
-	#print(position)
-	if(Sensors[0] >900 and Sensors[1] >900 and Sensors[2] >900 and Sensors[3] >900 and Sensors[4] >900):
-		Ab.setPWMA(0)
-		Ab.setPWMB(0)
-		print("greater than 900")
-	else:
-		print("less than 900")
-		# The "proportional" term should be 0 when we are on the line.
-		proportional = position - 2000
-		print("crash1")
-		# Compute the derivative (change) and integral (sum) of the position.
-		derivative = proportional - last_proportional
-		integral += proportional
-		print("crash2")
-		# Remember the last position.
-		last_proportional = proportional
-		print("crash3")
-		'''
-		// Compute the difference between the two motor power settings,
-		// m1 - m2.  If this is a positive number the robot will turn
-		// to the right.  If it is a negative number, the robot will
-		// turn to the left, and the magnitude of the number determines
-		// the sharpness of the turn.  You can adjust the constants by which
-		// the proportional, integral, and derivative terms are multiplied to
-		// improve performance.
-		'''
-		power_difference = proportional/30	+ integral/10000 + derivative*2;  
-		print("crash4")
-		if (power_difference > maximum):
-			power_difference = maximum
-		if (power_difference < - maximum):
-			power_difference = - maximum
-		print(position,power_difference)
-		if (power_difference < 0):
-			Ab.setPWMA(maximum + power_difference)
-			Ab.setPWMB(maximum);
-		else:
-			Ab.setPWMA(maximum);
-			Ab.setPWMB(maximum - power_difference)
-		print("crash5")
-#	for i in range(0,strip.numPixels()):
-#		strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255))
-#	strip.show();
-	print("crash6")
-	j += 1
-	print("crash7")
-	if(j > 256*4): 
-		j= 0
-		print("crash8")