main.py

from motor_driver import MotorDriver
from time import sleep
from arduino import Arduino
from guest import Guest
from time import time


def recognize_user(rfid_reader):
    print("start scanning")
    guests = Guest.get_guests()
    while True:
        uuid = rfid_reader.get_rfid_value()
        print("received uuid: ", uuid)
        for guest in guests:
            if uuid[0:11] == guest.get_uuid():
                return guest


def follow_line(sensors, left_motor, right_motor, doors=2):
    print('Started line following')

    last_doors_time = time()
    while True:
        #print(time())
        line = sensors.get_line_sensors()
        print(time(), line)
        count = 0
        for letter in line:
            if letter == '1':
                count += 1
        if len(line) < 6:
            print('Otrzymano ', len(line), 'znakow od arduino')
            continue
        if line[4] == '1' and line[5] == '1' and time() - last_doors_time > 3:
            doors -= 1
            last_doors_time = time()
            print('DOORS', doors)
            if doors == 0:
                left_motor.spin(100)
                right_motor.spin(-50)
        if count == 0 or count > 1:

            continue

        if line[0] == '1':
            left_motor.spin(-50)
            right_motor.spin(100)
        elif line[1] == '1':
            left_motor.spin(40)
            right_motor.spin(100)
        elif line[2] == '1':
            left_motor.spin(90)
            right_motor.spin(100)
        elif line[3] == '1':
            left_motor.spin(100)
            right_motor.spin(90)
        elif line[4] == '1':
            left_motor.spin(100)
            right_motor.spin(40)
        elif line[5] == '1':
            left_motor.spin(100)
            right_motor.spin(-50)
        else:
            left_motor.spin(20)
            right_motor.spin(20)


# Press the green button in the gutter to run the script.
if __name__ == '__main__':
    arduino = Arduino('ttyUSB0')

    print("scan rfid")
    arrived_guest = recognize_user(rfid_reader=arduino)

    left_motor = MotorDriver(13, 5, 6)
    right_motor = MotorDriver(12, 20, 16)
    follow_line(arduino, left_motor, right_motor, arrived_guest.get_destination())

    arduino.close_connection()