Added Virtual Map in 'Explore'and added possible Pathfinding in 'test'

mappingbot/bluetooth.py

+from bluepy.btle import Scanner
+
+scanner = Scanner()
+i = 0
+d = 0
+#m = 0
+#h = 0
+values = []
+oldAverage = 0
+average = 0
+found = False
+while True:
+    devices = scanner.scan(0.4)  # low delay will result in a lot of iterations without RSSI
+
+    for device in devices:
+        if device.addr == "30:4b:07:ff:e0:3e":
+            #found = True
+            #h += 1
+            # Calculate rolling average
+            values.append(device.rssi)
+            valSum = sum(values)
+            if len(values) > 20:
+                values.pop(0)
+            valSum = sum(values)
+            oldAverage = average
+            average = valSum/(len(values))
+
+            # if oldAverage != 0:
+            #     #print(average/oldAverage)
+            #     if average/oldAverage > 1.01:
+            #         i += 1
+            #         d = 0
+            #     elif average/oldAverage < 0.99:
+            #         d += 1
+            #         i = 0
+            #     else:
+            #         i = 0
+            #         d = 0
+            #
+            #     if d > 1:
+            #         # Moving away
+            #         print("decreasing")
+            #     elif i > 1:
+            #         # Coming closer
+            #         print("increasing")
+            #
+            #     print("D:" + str(d) + "   I:" + str(i))
+
+            if average > oldAverage:
+                d += 1
+                i = 0
+            elif average < oldAverage:
+                i += 1
+                d = 0
+            if d > 3:
+                # Coming closer
+                print("decreasing")
+            elif i > 3:
+                # Moving away
+                print("increasing")
+            print("D:" + str(d) + "   I:" + str(i))
+
+            #print(values)
+            #print("Average: " + str(average))
+        # else:
+        #     m += 1
+        #     print(m)
+
+    # if not found:
+    #     m += 1
+    # else:
+    #     found = False
+    # print("Hit: " + str(h) + "Miss: " + str(m))
\ No newline at end of file

mappingbot/driving.py

 # Libraries
 #import RPi.GPIO as GPIO
 import time
-import Encoder from encoder
+from encoder import Encoder
 #import PWMoutputFunction
 
 # GPIO Mode (BOARD / BCM)
@@ -23,9 +23,8 @@ class Driving:
         self.rotationspeed = 0.2 #speed in PWM percentage
         self.leftPWM = 0
         self.rightPWM =0
-        self.encoderLeft= Encoder(left,23) 
-        self.encoderRight = Encoder(right,24)
-
+        self.encoderLeft = Encoder(name="encoder1", encoder_pin=23)
+        self.encoderRight = Encoder(name="encoder1", encoder_pin=24)
 
     def stop(self):
         self.speed= 0
@@ -83,29 +82,51 @@ class Driving:
         self.currentPulseCountRight= self.encoderRight.get_pulse_count()
         
         if  self.currentPulseCountLeft >= self.setpointPulseCountLeft:
-            self.leftPWM =0
+            self.leftPWM = 0
         elif self.currentPulseCountLeft >= self.setpointPulseCountLeft-5:
             self.leftPWM = self.speed*0.5
-        elif self.currentPulseCountLeft	 >= self.setpointPulseCountLeft-2:
+        elif self.currentPulseCountLeft >= self.setpointPulseCountLeft-2:
             self.leftPWM = self.speed*0.1
-        else
+        else:
             self.leftPWM = self.speed
 
-
-        if self.setpointPulseCountRight >= self.currentPulseCountRight:
-            self.rightPWM =0
+        #if self.setpointPulseCountRight >= self.currentPulseCountRight:
+        if self.currentPulseCountRight >= self.setpointPulseCountRight:
+            self.rightPWM = 0
         elif self.currentPulseCountRight >= self.setpointPulseCountRight-5:
             self.rightPWM = self.speed*0.5
-        elif self.currentPulseCountRight	 >= self.setpointPulseCountRight-2:
+        elif self.currentPulseCountRight >= self.setpointPulseCountRight-2:
             self.rightPWM = self.speed*0.1
-        else
+        else:
             self.rightPWM = self.speed
 
-        # safty control, left and right PWM should always be the same. If not, chose the smaler one
+        # safty control, left and right PWM should always be the same. If not, choose the smaller one
         if self.leftPWM > self.rightPWM:
             self.leftPWM = self.rightPWM
         if self.rightPWM > self.leftPWM:
             self.rightPWM = self.leftPWM 
 
+        return self.leftPWM, self.rightPWM, self.directionLeftWheel, self.directionRightWheel
+
+
+try:
+    motor = Driving()
+    motor.__init__()
+    leftPin = GPIO.PWM(LEFTMOTOR, 50)
+    leftPin.start(0)
+    motor.driveForward(30, 1)
+    while True:
+        leftDC, rightDC, dir1, dir2 = motor.getPWM()
+        leftPin.ChangeDutyCycle(leftDC)
+        print(leftDC)
+        time.sleep(0.01)
+
+
+except KeyboardInterrupt:  # Exit by pressing CTRL + C
+    leftPin.stop()
+    GPIO.cleanup()
+    print("Measurement stopped by User")
+finally:
+    leftPin.stop()
+    GPIO.cleanup()
 
-        return self.leftPWM,self.rightPWM, self.directionLeftWheel, self.directionRightWheel
\ No newline at end of file

mappingbot/encoder.py

@@ -62,16 +62,16 @@ class Encoder:
         # Initialize the interrupt
         GPIO.add_event_detect(self.encoder_pin, GPIO.BOTH, callback=self.callback_encoder, bouncetime=10)
 
-try:
-    encoder1 = Encoder(name="encoder1", encoder_pin=4)
-    encoder1.init_callback()
-    while True:
-        print(encoder1.get_pulse_count())
-        print(encoder1.get_speed())
-        time.sleep(1)
-except KeyboardInterrupt:  # Exit by pressing CTRL + C
-    GPIO.cleanup()
-    print("Measurement stopped by User")
-finally:
-    GPIO.cleanup()
+# try:
+#     encoder1 = Encoder(name="encoder1", encoder_pin=4)
+#     encoder1.init_callback()
+#     while True:
+#         print(encoder1.get_pulse_count())
+#         print(encoder1.get_speed())
+#         time.sleep(1)
+# except KeyboardInterrupt:  # Exit by pressing CTRL + C
+#     GPIO.cleanup()
+#     print("Measurement stopped by User")
+# finally:
+#     GPIO.cleanup()