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Shamima/fall2020/recruitment-challenge/submission #4

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dd53080
Removed 'all' from README.md
Sep 26, 2020
b496ed5
Implemented set_desired_position
Shamima-Ali Sep 26, 2020
b76952a
Implemented update_current_position
Shamima-Ali Sep 26, 2020
1a6a117
Added code for navigate
Shamima-Ali Sep 27, 2020
f822c5d
Added comments
Shamima-Ali Sep 30, 2020
37d7970
Update navigation.py
Shamima-Ali Nov 4, 2020
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Added code for navigate
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@Shamima-Ali
Shamima-Ali committed Sep 27, 2020
commit 1a6a117d90993ff2a8ce55e21ac3a34afc749724
32 changes: 32 additions & 0 deletions fall-2020/navigation.py
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Expand Up @@ -93,6 +93,38 @@ def navigate(self):
Returns: True if actuation requests were successful, False if not
Note: It may be good to notify the user if something unexpected happens!
"""
act_request_forward = True
act_request_right = True
act_request_left = True
act_request_up = True
act_request_down = True

if desired_position[0] > current_position[0]:
while(current_position[0] != desired_position[0]):
act_request_forward = Steering.move_forward()
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so you are calling the methods in Steering as if they were static methods. In order to call these, you need to call them from the steering object that is owned by the Navigation class, so this would instead look like:

act_request_forward = self.steering.move_forward()

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Steering is the class type, I think you mean to refer to the Steering instance that is a class field - "steering"

self.update_current_position
if act_request_forward == False:
print("Unable to move to desired x position")

required_y_distance = desired_position[1] - current_position[1]
if required_y_distance > 0:
act_request_right = Steering.move_right(required_y_distance)
elif required_y_distance < 0:
act_request_left = Steering.move_left(required_y_distance)
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Here, the required distance is negative, indicating you have to move left. However, you are calling move left and passing it this negative value. Depending on the implementation of the move_left method, this could steer the machine right or do nothing. Maybe you can use the abs method to get the magnitude of required_distance.

This comment also applies to the z steering block.

if act_request_left or act_request_left == False:
print("Unable to move to desired y position")

required_z_distance = desired_position[2] - current_position[2]
if required_z_distance > 0:
act_request_up = Steering.move_up(required_z_distance)
elif required_z_distance < 0:
act_request_down = Steering.move_down(required_z_distance)
if act_request_up or act_request_down == False:
print("Unable to move to desired z position")

self.update_current_position
return current_position == desired_position

pass


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