main.py File Reference

WS23-24 Semi Autonomous Program. More...

Classes
class	main.man_point
	This is a manuevre segment array base class. More...

Namespaces
namespace	main
	WS23-24 Semi Autonomous Program.

Variables
int	main.max_steer = 600;
	Creating an array of Point objects.
bool	main.two_motors = True;
	Flag used during debugging.
	main.motor_drive = Motor(Port.A);
	Initialize the drive motor.
	main.sen_us = UltrasonicSensor(Port.S1);
	init Ultrasonic sensor.
	main.sen_gyro = GyroSensor(Port.S2,Direction.CLOCKWISE);
	Init Gyro sensor.
	main.emergency_button = TouchSensor(Port.S4);
	touchsensor is also the ESTOP button
int	main.start_distance = 0;
	Variable used to store the start distance during object detection.
int	main.end_distance = 0;
	Variable used to store the start distance during object detection.
bool	main.run_flag = False;
	Flag used to see if the drive motor needs to be active.
int	main.button_press_ctr = 0;
	ESTOP Button Press samples counter.
int	main.center_button_ctr = 0;
	Center Button pressed samples counter.
int	main.left_button_ctr = 0;
	Left button pressed samples counter.
int	main.man = 0;
	Index for segments in path planning.
int	main.detect_flag = 0;
	Flag used to detect the start first object.
int	main.parking_spot_detected = 0;
	Flag to detect if the parking spot is successfully detected.
int	main.detect_obj1_flag = 0;
	Flag to detect if first object was successfully detected.
int	main.obj1_valid = 0;
	Flag to denote if first object is valid.
int	main.obj1_last_distance = 0;
	Variable to store the last detected Ultrasonic Sensor Distance.
int	main.start_distance_obj1 = 0;
	Start Distance variale to store the distance value when object 1 was detected which helps us to calculate the length of the object.
int	main.obj1_distance = 0;
	Length of the object 1.
int	main.parking_length_detected = 0;
	Flag to denote if a valid parking length for parallel parking manuevre was detected.
int	main.park_distance = 0;
	Variable to store the current parking spot length to check if it valid.
int	main.detect_obj2_flag = 0;
	Flag to detect if second object was successfully detected.
int	main.obj2_valid = 0;
	Flag to denote if second object is valid.
int	main.start_distance_obj2 = 0;
	Start Distance variale to store the distance value when object 2 was detected which helps us to calculate the length of the object.
int	main.obj2_distance = 0;
	Length of the object 2.
int	main.park_flag = 0;
	Flag used to wait for park confirmation.
str	main.previous_state = 'init_0';
	Variable to store previous state.

Detailed Description

WS23-24 Semi Autonomous Program.

Description

This is main file of the application, where the main thread runs. The main thread runs in the an infinite while loop and it has the following structure:

• Peripheral and Data Initialization
• Main thread
  • Acquisation of User Inputs
  • Run the Drive Module functions
  • Acquisation of the Statemachine Events
  • Run the StateMachine
  • Run StateMachine Callbacks

Libraries/Modules

• Pybricks (https://pybricks.com/)
  • Access to EV3 HUB for Sound and Display Access
  • Access to Output Devices like Motor
  • Access to Sensors: Ultrasonic, Touch, Color and Gyro
  • Access to Parameters such as, Directio, Port, Color etc.
• Math
• PID Controller
• State Machine
• Drive Module