Merge pull request github#1 from USERNAME88831/debugFeatures

Adding debug features to the program

debugFeatures.py

@@ -0,0 +1,53 @@
+# TODO: Create features that are useful in debug mode. 
+from pybricks.tools import DataLog, StopWatch, wait
+from threading import * 
+
+
+class Logger:
+    def __init__(self, motor, sensorFunction, leftMotor, rightMotor, thirdMotor): # TODO: Change name when we find the use of the third motor
+        """
+        The logger logs everything that the robot is doing in a file \n
+        
+        """
+        self.motor = motor
+        self.sensorFunction = sensorFunction
+        self.leftMotor = leftMotor
+        self.rightMotor = rightMotor
+        self.thirdMotor = thirdMotor
+
+        self.data = DataLog("leftSensorDistance", 
+                            "rightSensorDistance",
+                            "frontSensorDistance",
+                            "colorSensorReflection"
+                            "leftWheelAngle", # Individual wheel
+                            "rightWheelAngle", # Individual wheel
+                            "thirdMotorAngle", # TODO: Change name when we find the use of the third motor
+                            "robotSpeed"
+                            )
+
+        self.thread = Thread(target=self._logFunc)
+        self.thread.setDaemon(True) # Since it runs in the background, it will immediatly end when the non-dameon threads end.
+
+
+
+    def _logFunc(self):
+        """
+        this function is to log stuff during the entire program 
+        """
+        while True:
+            leftSide, rightSide, frontSide, lightReflected = self.sensorFunction()
+            leftWheelAngle = self.leftMotor.angle()
+            rightWheelAngle = self.rightMotor.angle()
+            thirdMotorAngle = self.thirdMotor.angle()
+            _, robotSpeed, _, _ = self.motor
+            self.data.log(leftSide,
+                        rightSide,
+                        frontSide,
+                        lightReflected,
+                        leftWheelAngle,
+                        rightWheelAngle,
+                        thirdMotorAngle,
+                        robotSpeed)
+
+    def startLogging(self):
+        self.thread.start()

robot.py

@@ -10,7 +10,7 @@
 from pybricks.tools import wait, StopWatch, DataLog
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
-
+from debugFeatures import Logger
 
 
 
@@ -30,7 +30,7 @@ def __init__(self, M1Port, M2Port, M3Port, ColorSensorPort, FrontSensorPort,
 
         self.debugMode = debugMode # enables certain features to test the robot.
 
-
+        self.logger = Logger(self.motor, self.sensorOutput, self.LeftWheel, self.RightWheel, self.m3)
 
         self.brick = EV3Brick()
         self.slowDownDistance = 500 # slows down when it is near this distance
@@ -39,7 +39,7 @@ def __init__(self, M1Port, M2Port, M3Port, ColorSensorPort, FrontSensorPort,
         self.LeftWheel = Motor(M1Port)
         self.RightWheel = Motor(M2Port)
         self.motor = DriveBase(self.LeftWheel, self.RightWheel, self.wheelDiameter, self.axleTrack) # The class used to drive robots
-        self.M3 = Motor(M3Port) # TODO: find use of the third motor
+        self.m3 = Motor(M3Port) # TODO: find use of the third motor
         self.colorSensor = ColorSensor(ColorSensorPort) # Should be used to track the lines
         self.frontSensor = UltrasonicSensor(FrontSensorPort)
         self.leftSensor = UltrasonicSensor(LeftSensorPort)