Added Missions.py for mission programs. Porting project from SB complete. Master program complete, with automatic menu creation. Mission subroutines must be named "a##<MisssionName>", where ## is a two digit number starting at 00, and creates the mission order. (alphabetacal)

Author: WesleyJ-128

FLLMaster/DriveLibraries.py

@@ -9,8 +9,9 @@ class Robot:
     from ev3dev2.sound import Sound
     from ev3dev2.button import Button
     from ev3dev2.led import Leds, LED_COLORS, LED_DEFAULT_COLOR, LED_GROUPS, LEDS
+    from ev3dev2.display import Display
+    import ev3dev2.fonts as fonts
     import math
-    import time
 
     def __init__(self, filename):
         from configparser import SafeConfigParser
@@ -22,6 +23,7 @@ def __init__(self, filename):
         self.spkr = self.Sound()
         self.btn = self.Button()
         self.led = self.Leds()
+        self.disp = self.Display()
 
         self.LeftMotor = eval(conf.get('Drivebase', 'LeftMotorPort'))
         self.RightMotor = eval(conf.get('Drivebase', 'RightMotorPort'))

FLLMaster/Main.py

@@ -1,40 +1,48 @@
 #!/usr/bin/env python3
-from DriveLibraries import *
+from MenuLib import init
+import MenuLib
 from time import sleep
-from ev3dev2.display import *
-disp = Display()
-
-R1 = Robot('robot.cfg')
-R1.gs.calibrate()
-sleep(1)
-R1.spkr.beep()
-R1.reflectCal()
-R1.btn.wait_for_bump('enter')
 # Write Code Here ----------------------------------------
 
+init()
+from MenuLib import *
+MenuLib.robot.reflectCal()
+
 def left(state):
-    pass
+    if state:
+        minusCount()
+        display()
 def right(state):
-    pass
-def up(state):
-    pass
+    if state:
+        addCount()
+        display()
 def down(state):
-    pass
+    if state:
+        calibrate()
+def up(state):
+    if state:
+        abort()
+        minusCount()
+        display()
 def enter(state):
     if state:
-        R1.DriveAtHeading(0, 50, 50, True)
+        run()
+        addCount()
+        display()
 def backspace(state):
-    pass
+    if state:
+        abort()
 
-R1.btn.on_left = left
-R1.btn.on_right = right
-R1.btn.on_up = up
-R1.btn.on_down = down
-R1.btn.on_enter = enter
-R1.btn.on_backspace = backspace
+robot.btn.on_left = left
+robot.btn.on_right = right
+robot.btn.on_up = up
+robot.btn.on_down = down
+robot.btn.on_enter = enter
+robot.btn.on_backspace = backspace
 
 
 while True:    
-    R1.btn.process()
-
-
+    robot.btn.process()
+    loopIndex = (loopIndex + 1) % 100
+    displaySensor()
+    checkDrift()

FLLMaster/MenuLib.py

@@ -0,0 +1,90 @@
+from DriveLibraries import *
+import multiprocessing
+import Missions
+from time import sleep
+mission = None
+robot = None
+programs = []
+numPrograms = 0
+count = 1
+loopIndex = 0
+
+def init():
+    global programs
+    global numPrograms
+    global robot
+    robot = Robot('robot.cfg')
+    programs = dir(Missions)
+    i = 0
+    index = -1
+
+    length = len(programs)
+    while i < length:
+        if not ((programs[index][0] == "a") and (programs[index][1].isnumeric()) and (programs[index][2].isnumeric())):
+            programs.pop(index)
+        else:
+            index -= 1
+        i += 1
+    numPrograms = len(programs)
+
+    robot.disp.clear()
+    robot.disp.text_grid(programs[0][3:], font=robot.fonts.load('timR24'))
+    
+def runCurrentMission():
+    method_to_call = getattr(Missions, programs[count - 1])
+    method_to_call()
+    robot.rm.off(brake=False)
+    robot.lm.off(brake=False)
+
+def run():
+    robot.zeroGyro()
+    global mission
+    mission = multiprocessing.Process(target=runCurrentMission)
+    mission.start()
+    
+def display():
+    name = programs[count - 1][3:]
+    robot.disp.text_grid(name, font=robot.fonts.load('timR24'))
+
+def abort():
+    mission.terminate()
+    mission.join()
+    robot.lm.off(brake=False)
+    robot.rm.off(brake=False)
+
+def addCount():
+    global count
+    count = (count % numPrograms) + 1
+
+def minusCount():
+    global count
+    count = ((count + (numPrograms - 2)) % numPrograms) + 1
+
+def checkDrift():
+    ar = robot.gs.angle_and_rate
+    rate = ar[1]
+    if rate < -0.5 or rate > 0.5:
+        robot.led.all_off()
+        robot.led.set_color('LEFT', 'RED')
+        robot.led.set_color('RIGHT', 'RED')
+    else:
+        robot.led.reset()
+
+def displaySensor():
+    if loopIndex == 0:
+        robot.disp.rectangle(False, 0, 89, 177, 120, 'white', 'white')
+        robot.disp.update
+        robot.cs._ensure_mode(robot.cs.MODE_COL_REFLECT)
+        robot.disp.text_pixels("P1, Color:" + str(robot.correctedRLI), False, 40, 90, font=robot.fonts.load('courR10'))
+        robot.disp.text_pixels("P2, Gyro:" + str(robot.correctedAngle), False, 40, 100, font=robot.fonts.load('courR10'))
+        robot.disp.update()
+
+def calibrate():
+    robot.led.all_off()
+    robot.led.set_color('LEFT', 'YELLOW')
+    robot.led.set_color('RIGHT', 'YELLOW')
+    robot.spkr.beep('-f 369.99')
+    robot.gs.calibrate()
+    sleep(1)
+    robot.spkr.beep()
+    robot.led.reset()

FLLMaster/Missions.py

@@ -0,0 +1,20 @@
+from DriveLibraries import *
+robot = Robot('robot.cfg')
+# Write Mission Programs Here ----------------------
+
+def a00Star():
+    robot.ArcTurn(-90, 30, 30)
+    robot.ArcTurn(-90, 30, -30)
+    robot.ArcTurn(-90, 30, 30)
+    robot.ArcTurn(-90, 30, -30)
+def a05LineFollow():
+    robot.LineFollow(50, 50, True)
+def a10Command_Key():
+    robot.DriveAtHeading(0, 50, 30, False)
+    robot.ArcTurn(270, 30, 30)
+    robot.DriveAtHeading(270, 50, 30, False)
+    robot.ArcTurn(270, 30, 30)
+    robot.DriveAtHeading(270 * 2, 50, 30, False)
+    robot.ArcTurn(270, 30, 30)
+    robot.DriveAtHeading(270 * 3, 50, 30, True)
+    robot.GyroTurn(0)