Pi Pico Micropython Loop seems to get stuck - gps

I am using a Pico as part of my dissertation along with an Arduino Due for a low cost fully autonomous UAV.
Anyway to the point, the code was working before I added the GPS part but now even if I take it out the ultrasonics won't work correctly. only shows the left sensor and doesn't continue on to the GPS.
I was also trying to use the multithreader with no joy :(
Any help or suggestions would be great.
Its a bit messy I know not quite got round to polishing it.
from machine import Pin
import utime, _thread, machine
import os
from rp2 import PIO, StateMachine, asm_pio
#print sys info
print(os.uname())
led_onboard = machine.Pin(25, machine.Pin.OUT)
led_onboard.value(0) # onboard LED OFF for 0.5 sec
utime.sleep(0.5)
led_onboard.value(1)
uart = machine.UART(0, baudrate=9600)
ser = machine.UART(1, baudrate=9600)
print(uart)
print(ser)
baton = _thread.allocate_lock()
rcvChar = b""
trigger = Pin(3, Pin.OUT) #left
echo = Pin(2, Pin.IN)
trigger2 = Pin(6, Pin.OUT) #right
echo2 = Pin(7, Pin.IN)
trigger4 = Pin(9, Pin.OUT) #backward
echo4 = Pin(8, Pin.IN)
def decode(coord):
#Converts DDDMM.MMMMM > DD deg MM.MMMMM min
x = coord.split(".")
head = x[0]
tail = x[1]
deg = head[0:-2]
min = head[-2:]
return deg + " deg " + min + "." + tail + " min"
def ultraleft():
trigger.low()
utime.sleep_us(2)
trigger.high()
utime.sleep_us(5)
trigger.low()
while echo.value() == 0:
signaloff = utime.ticks_us()
while echo.value() == 1:
signalon = utime.ticks_us()
timepassed = signalon - signaloff
Ldistance = (timepassed * 0.0343) / 2
utime.sleep(0.1)
trigger.low()
utime.sleep_us(2)
trigger.high()
utime.sleep_us(5)
trigger.low()
while echo.value() == 0:
signaloff = utime.ticks_us()
while echo.value() == 1:
signalon = utime.ticks_us()
timepassed = signalon - signaloff
Ldistance2 = (timepassed * 0.0343) / 2
newLdist = (Ldistance + Ldistance2) / 2
if newLdist > 120:
newLdist = 120
elif newLdist <= 100:
print("Distance Left less than 100")
return True
print("The distance Left from object is ",newLdist,"cm")
def ultraright():
trigger2.low()
utime.sleep_us(2)
trigger2.high()
utime.sleep_us(5)
trigger2.low()
while echo2.value() == 0:
signaloff2 = utime.ticks_us()
while echo2.value() == 1:
signalon2 = utime.ticks_us()
timepassed2 = signalon2 - signaloff2
Rdistance = (timepassed2 * 0.0343) / 2
utime.sleep(0.1)
trigger2.low()
utime.sleep_us(2)
trigger2.high()
utime.sleep_us(5)
trigger2.low()
while echo2.value() == 0:
signaloff2 = utime.ticks_us()
while echo2.value() == 1:
signalon2 = utime.ticks_us()
timepassed2 = signalon2 - signaloff2
Rdistance2 = (timepassed2 * 0.0343) / 2
newRdist = (Rdistance + Rdistance2) / 2
if newRdist > 120:
newRdist = 120
elif newRdist <= 100:
print("Distance Right less than 100")
return True
print("The distance Right from object is ",newRdist,"cm")
def ultradwn():
trigger4.low()
utime.sleep_us(2)
trigger4.high()
utime.sleep_us(5)
trigger4.low()
while echo4.value() == 0:
signaloff4 = utime.ticks_us()
while echo4.value() == 1:
signalon4 = utime.ticks_us()
timepassed4 = signalon4 - signaloff4
Ddistance = (timepassed4 * 0.0343) / 2
utime.sleep(0.1)
trigger4.low()
utime.sleep_us(2)
trigger4.high()
utime.sleep_us(5)
trigger4.low()
while echo4.value() == 0:
signaloff4 = utime.ticks_us()
while echo4.value() == 1:
signalon4 = utime.ticks_us()
timepassed4 = signalon4 - signaloff4
Ddistance2 = (timepassed4 * 0.0343) / 2
newDdist = (Ddistance + Ddistance2) / 2
if newDdist > 120:
newDdist = 120
elif newDdist >20 :
print("Distance Down is greater than 20")
x = 1
#uart.write("D20")
#uart.write("\n")
#print("Sent TO Height")
return True
elif newDdist <12 :
print("Distance Down is less than 12")
x = 2
#uart.write("D12")
#uart.write("\n")
#print("Sent Landed")
return True
print("The distance Down from object is ",newDdist,"cm")
def gps():
while True:
#baton.acquire()
rcvChar = ser.readline()
gps_data =rcvChar.decode("ASCII")
data = gps_data
if (data[0:6] == "$GPRMC"):
sdata = data.split(",")
if (sdata[2] == 'V'):
print("no satellite data available")
print ("---Parsing GPRMC---")
time = sdata[1][0:2] + ":" + sdata[1][2:4] + ":" + sdata[1][4:6]
lat = decode(sdata[3]) #latitude
dirLat = sdata[4] #latitude direction N/S
lon = decode(sdata[5]) #longitute
dirLon = sdata[6] #longitude direction E/W
speed = sdata[7] #Speed in knots
trCourse = sdata[8] #True course
date = sdata[9][0:2] + "/" + sdata[9][2:4] + "/" + sdata[9][4:6]#date
print ("time : %s, latitude : %s(%s), longitude : %s(%s), speed : %s, True Course : %s, Date : %s" % (time,lat,dirLat,lon,dirLon,speed,trCourse,date))
#baton.acquire()
#_thread.start_new_thread(gps(), ())
while True:
x = 0
#baton.acquire()
ultraleft()
utime.sleep(0.1)
ultraright()
utime.sleep(0.1)
ultradwn()
utime.sleep(0.1)
if ultraleft():
uart.write("LO")
uart.write("\n")
print("Sent Left")
utime.sleep(1)
if ultraright():
uart.write("RO")
uart.write("\n")
print("Sent Right")
uart.sendbreak()
utime.sleep(1)
if ultradwn():
if x == 1:
uart.write("D20")
uart.write("\n")
print("Sent TO Height")
utime.sleep(1)
if x == 2:
uart.write("D12")
uart.write("\n")
print("Sent Landed")
utime.sleep(1)
utime.sleep(1)
gps()
#baton.release()

Related

I'm making a code and my question is about the fsolve of scipy.optimize, I get to the value of the function, but it returns a false root

class ConstanteEquilibrio:
def __init__(self, lista_componentes, lista_coeficientes, T, P, mols_i):
self.lista_componentes = lista_componentes
self.lista_coeficientes = lista_coeficientes
self.T = T
self.P = P
self.mols_i = mols_i
return
def Calcula(self):
somatorio_G = 0.0
somatorio_H = 0.0
somatorio_A = 0.0
somatorio_B = 0.0
somatorio_C = 0.0
somatorio_D = 0.0
somatorio_E = 0.0
R = 8.314
Tref = 298.15
nomes = []
Tc_mix = []
Pc_mix = []
w_mix = []
dados_compostos = pd.read_excel("DadosCompostosPadrao.xlsx")
for i in range(0, len(self.lista_componentes)):
G_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'G0 (298)'].values[0]
H_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'H0 (298)'].values[0]
A_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'a'].values[0]
B_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'b'].values[0]
C_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'c'].values[0]
D_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'd'].values[0]
E_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'e'].values[0]
nome_i = dados_compostos.loc[dados_compostos['Composto'] == self.lista_componentes[i], 'Nome'].values[0]
nomes.append(nome_i)
dados_composto_i = ChemicalConstantsPackage.constants_from_IDs([nome_i])
Tc_mix.append(dados_composto_i.Tcs[0])
Pc_mix.append(dados_composto_i.Pcs[0])
w_mix.append(dados_composto_i.omegas[0])
somatorio_G = somatorio_G + self.lista_coeficientes[i] * G_i
somatorio_H = somatorio_H + self.lista_coeficientes[i] * H_i
somatorio_A = somatorio_A + self.lista_coeficientes[i] * A_i
somatorio_B = somatorio_B + self.lista_coeficientes[i] * B_i
somatorio_C = somatorio_C + self.lista_coeficientes[i] * C_i
somatorio_D = somatorio_D + self.lista_coeficientes[i] * D_i
somatorio_E = somatorio_E + self.lista_coeficientes[i] * E_i
K298 = np.exp(-somatorio_G*1000 / (R * Tref))
lnK_K298 = (-somatorio_H*1000/R + somatorio_A*Tref + somatorio_B*(Tref**2)/2 + somatorio_C*(Tref**3)/3 - somatorio_D/Tref + somatorio_E*(Tref**4)/4)*(1/self.T - 1/Tref) + somatorio_A*np.log(self.T/Tref) + somatorio_B*(self.T-Tref)/2 + somatorio_C*(self.T**2-Tref**2)/6 + somatorio_D*((1/self.T**2)-(1/Tref**2))/2 - somatorio_E*(self.T**3-Tref**3)/12
K_T = K298 * np.exp(lnK_K298)
def CalculaE(e):
y_componentes = []
FO = 0.0
n_total = sum(self.mols_i) + e * sum(self.lista_coeficientes)
for i in range(0, len(self.lista_componentes)):
y_i = (self.mols_i[i] + self.lista_coeficientes[i] * e)/n_total
y_componentes.append(y_i)
for j in range(0, len(self.lista_componentes)):
FO = FO + (self.P * y_componentes[j])**(self.lista_coeficientes[j])
#print(FO)
return FO - K_T
e_reacao = fsolve(CalculaE, 0.5)
e_reacao = e_reacao[0]
#print(e_reacao)
n_componentes = []
y_componentes = []
for j in range(0, len(self.lista_componentes)):
n_i = (self.mols_i[j] + self.lista_coeficientes[j] * e_reacao)
n_componentes.append(n_i)
n_total = sum(n_componentes)
for w in range(0, len(self.lista_componentes)):
y_i = n_componentes[w] / n_total
print(f'{self.lista_componentes[w]} : {y_i * 100:.3f} %')
return K298, K_T
However, when I print in e_reacao I arrive at the value of K_T, which is 14,128, (theoretically it reached the zero of the function) only for some reason when I replace the value in the final expression:
K_T = (e_reacao / (1 + e_reacao))**2 / ((1 - e_reacao)/(1 + e_reacao)) I don't get the value of 14.128 because the value of e_reaction of the last interaction is 0.8592 but it was supposed to be , approximately 0.9663. Does anyone have an idea what it could be? Something wrong I'm doing in the code. Thanks in advance.

Conversion ECEF XYZ to LLH (LAT/LONG/HEIGHT) and translation back - not accurate / possible error in IronPython script

I've modeled a 3D earth with gridpoints, as below:
The points are represented in 3D space as XYZ coordinates.
I then convert XYZ to Lat/Long/Height(elevation) based on the script I took from here:
JSFiddle
For some reason I got really strange results when trying to find XYZ of LLH not from my set, so I tried to verify the initial script by converting XYZ to LLH and then the same LLH back to XYZ to see if I get the same coordinate.
Instead, the resulting coordinate is some XYZ on earth, unrelated to the original XYZ position.
XYZ to LLH script:
Source: JSFiddle
def xyzllh(x,y,z):
""" xyz vector to lat,lon,height
output:
llhvec[3] with components
flat geodetic latitude in deg
flon longitude in deg
altkm altitude in km
"""
dtr = math.pi/180.0
rrnrm = [0.0] * 3
llhvec = [0.0] * 3
geodGBL()
esq = EARTH_Esq
rp = math.sqrt( x*x + y*y + z*z )
flatgc = math.asin( z / rp )/dtr
testval= abs(x) + abs(y)
if ( testval < 1.0e-10):
flon = 0.0
else:
flon = math.atan2( y,x )/dtr
if (flon < 0.0 ):
flon = flon + 360.0
p = math.sqrt( x*x + y*y )
# on pole special case
if ( p < 1.0e-10 ):
flat = 90.0
if ( z < 0.0 ):
flat = -90.0
altkm = rp - rearth(flat)
llhvec[0] = flat
llhvec[1] = flon
llhvec[2] = altkm
return llhvec
# first iteration, use flatgc to get altitude
# and alt needed to convert gc to gd lat.
rnow = rearth(flatgc)
altkm = rp - rnow
flat = gc2gd(flatgc,altkm)
rrnrm = radcur(flat)
rn = rrnrm[1]
for x in range(5):
slat = math.sin(dtr*flat)
tangd = ( z + rn*esq*slat ) / p
flatn = math.atan(tangd)/dtr
dlat = flatn - flat
flat = flatn
clat = math.cos( dtr*flat )
rrnrm = radcur(flat)
rn = rrnrm[1]
altkm = (p/clat) - rn
if ( abs(dlat) < 1.0e-12 ):
break
llhvec[0] = flat
llhvec[1] = flon
llhvec[2] = altkm
return llhvec
# globals
EARTH_A = 0
EARTH_B = 0
EARTH_F = 0
EARTH_Ecc = 0
EARTH_Esq = 0
# starting function do_llhxyz()
CallCount = 0
llh = [0.0] * 3
dtr = math.pi/180
CallCount = CallCount + 1
sans = " \n"
llh = xyzllh(x,y,z)
latitude = llh[0]
longitude= llh[1]
hkm = llh[2]
height = 1000.0 * hkm
latitude = fformat(latitude,5)
longitude = fformat(longitude,5)
height = fformat(height,1)
sans = sans +"Latitude,Longitude, Height (ellipsoidal) from ECEF\n"
sans = sans + "\n"
sans = sans +"Latitude : " + str(latitude) + " deg N\n"
sans = sans +"Longitude : " + str(longitude - 180) + " deg E\n"
sans = sans +"Height : " + str(height) + " m\n"
lats = []
longs = []
heights = []
lats.append(str(latitude))
longs.append(str(longitude - 180))
heights.append(str(height))
And this is the LLH to XYZ script:
Source: www.mathworks.com
a = 6378137
t = 8.1819190842622e-2
# (prime vertical radius of curvature)
N = a / math.sqrt(1 - (t*t) * (math.sin(lat)*math.sin(lat)))
x = []
y = []
z = []
# results:
x.append( ((N+height) * math.cos(lat) * math.cos(long))/1000 )
y.append( ((N+height) * math.cos(lat) * math.sin(long))/1000 )
z.append( (((1-t*t) * N + height) * math.sin(lat))/1000 )
Anyone know what I'm doing wrong here?
Thanks!

Can't figure out, why script on Jython working differently from script on Pascal

Long story short: I'm writing script, which should move mouse and do clicks like human (it's a bot, actually), using SikuliX. SikuliX uses Jython 2.7 as lang for scritps.
I found nice lib for my purposes (moving mouse like human): mouse.simba written in Pascal-like lang, and rewrite function _humanWindMouse() in jython. It works, but not like I expected it would be.
Test run of my script, drawing rectangle:
https://prtscr.cx.ua/storage/5b/5b2203.jpg
Result of using original function with same coords:
https://prtscr.cx.ua/storage/bb/bb3ff5.jpg
sorry for links, I can't post images yet (
My code:
import random
import time
import math
from time import sleep
from math import sqrt
from math import ceil
from math import hypot
from java.awt import Robot
def distance(x1, y1, x2, y2):
return math.hypot(x2 - x1, y2 - y1)
def myrandom(x):
return random.randint(0, x-1)
def myround(x):
return int(round(x))
# function MMouseMove (MyMouseMove) for moving mouse using only coord
def MMouseMove(x,y):
robot = Robot()
robot.mouseMove(x,y)
# function HumanWindMouse by BenLand100 & Flight, python implementation
def humanWindMouse(xs, ys, xe, ye, gravity, wind):
veloX = veloY = windX=windY=veloMag=dist=randomDist=lastDist=D=0
lastX=lastY=MSP=W=TDist=0
mouseSpeed = 20
MSP = mouseSpeed
sqrt2 = sqrt(2)
sqrt3 = sqrt(3)
sqrt5 = sqrt(5)
TDist = distance(myround(xs), myround(ys), myround(xe), myround(ye))
t = time.time() + 10000
while True:
if time.time() > t:
break
dist = hypot(xs - xe, ys - ye)
wind = min(wind, dist)
if dist < 1:
dist = 1
D = (myround((myround(TDist)*0.3))/7)
if D > 25:
D = 25
if D < 5:
D = 5
rCnc = myrandom(6)
if rCnc == 1:
D = random.randint(2,3)
if D <= myround(dist):
maxStep = D
else:
maxStep = myround(dist)
windX= windX / sqrt2
windY= windY / sqrt2
veloX= veloX + windX
veloY= veloY + windY
veloX= veloX + gravity * (xe - xs) / dist
veloY= veloY + gravity * (ye - ys) / dist
if hypot(veloX, veloY) > maxStep:
temp = int(myround(maxStep) // 2)
if temp == 0:
temp = 1
randomDist= maxStep / 2.0 + myrandom(temp)
veloMag= sqrt(veloX * veloX + veloY * veloY)
veloX= (veloX / veloMag) * randomDist
veloY= (veloY / veloMag) * randomDist
lastX= myround(xs)
lastY= myround(ys)
xs= xs + veloX
ys= ys + veloY
if lastX <> myround(xs) or lastY <> myround(ys):
MMouseMove(myround(xs), myround(ys))
W = (myrandom((myround(100/MSP)))*6)
if W < 5:
W = 5
W = myround(W*0.9)
sleep(W/1000.0)
lastdist= dist
if hypot(xs - xe, ys - ye) < 1:
break
if myround(xe) <> myround(xs) or myround(ye) <> myround(ys):
MMouseMove(myround(xe), myround(ye))
mouseSpeed = MSP
return;
def MMouse(x,y):
mouseSpeed = 20
randSpeed = (myrandom(mouseSpeed) / 2.0 + mouseSpeed) / 10.0
curPos = Mouse.at()
x1 = curPos.x
y1 = curPos.y
humanWindMouse(x1, y1, x, y, 5, 10.0/randSpeed)
return;
And I used this in such a way:
MMouseMove(227, 146)
mouseDown(Button.LEFT)
MMouse(396, 146)
MMouse(396, 252)
MMouse(227, 252)
MMouse(227, 146)
mouseUp(Button.LEFT)
exit()
mouseDown() and mouseUp() are built-in functions in SikuliX
And I didn't use built-in mouseMove(), because with it going from A to B is too slow.
Any help would be appreciated
After few hours of debugging i figured out the problem: in source code for unknowing reason author passed constant called MOUSE_HUMAN to variable named gravity when caling his function _humanWindMouse(), this looks like an error to me. Thats why I decided to fix this in my code, and throw out one argument of the function and a few lines of code (and that was wrong move). After re-adding needed code my function working, as I expected.
So, here's the working code:
# function HumanWindMouse by BenLand100 & Flight,
# python implementation by Nokse
def humanWindMouse(xs, ys, xe, ye, gravity, wind, targetArea):
veloX = veloY = windX=windY=veloMag=dist=randomDist=lastDist=D=0
lastX=lastY=MSP=W=TDist=0
mouseSpeed = 20
MSP = mouseSpeed
sqrt2 = sqrt(2)
sqrt3 = sqrt(3)
sqrt5 = sqrt(5)
TDist = distance(myround(xs), myround(ys), myround(xe), myround(ye))
t = time.time() + 10000
while True:
if time.time() > t:
break
dist = hypot(xs - xe, ys - ye)
wind = min(wind, dist)
if dist < 1:
dist = 1
D = (myround((myround(TDist)*0.3))/7)
if D > 25:
D = 25
if D < 5:
D = 5
rCnc = myrandom(6)
if rCnc == 1:
D = random.randint(2,3)
if D <= myround(dist):
maxStep = D
else:
maxStep = myround(dist)
if dist >= targetArea:
windX = windX / sqrt3 + (myrandom(myround(wind) * 2 + 1) - wind) / sqrt5
windY = windY / sqrt3 + (myrandom(myround(wind) * 2 + 1) - wind) / sqrt5
else:
windX = windX / sqrt2
windY = windY / sqrt2
veloX = veloX + windX
veloY = veloY + windY
veloX = veloX + gravity * (xe - xs) / dist
veloY = veloY + gravity * (ye - ys) / dist
if hypot(veloX, veloY) > maxStep:
halfSteps = int(myround(maxStep) // 2)
if halfSteps == 0:
halfSteps = 1
randomDist = maxStep / 2.0 + myrandom(halfSteps)
veloMag = sqrt(veloX * veloX + veloY * veloY)
veloX = (veloX / veloMag) * randomDist
veloY = (veloY / veloMag) * randomDist
lastX = myround(xs)
lastY = myround(ys)
xs = xs + veloX
ys = ys + veloY
if lastX <> myround(xs) or lastY <> myround(ys):
MMouseMove(myround(xs), myround(ys))
W = (myrandom((myround(100/MSP)))*6)
if W < 5:
W = 5
W = myround(W*0.9)
sleep(W/1000.0)
lastdist = dist
#condition for exiting while loop
if hypot(xs - xe, ys - ye) < 1:
break
if myround(xe) <> myround(xs) or myround(ye) <> myround(ys):
MMouseMove(myround(xe), myround(ye))
mouseSpeed = MSP
return;
I tested it with different parameters, and choose this one:
humanWindMouse(xs, ys, x, y, 9, 10.0/randSpeed, 10.0*randSpeed)
but I recommend to play with parameters first, to understand, how do they affect the behavior of the mouse.
How to calc randSpeed, what should be imported, and sub-functions, such as myround(), could be found at my first post.
Hope, this code will help somebody someday)

My tensorflow code does not work good -bank analysis

I'm studding tensorflow and I wrote some code but it does not work good.
the data was downloaded from uci:http://archive.ics.uci.edu/ml/datasets/Bank+Marketing
I want to find the client who will subscribe a term deposit,but the result matched is 0.
I use 3 layers neural network and sigmod for output.
My code is like this,please help me.
hidden_layer1 = 200
hidden_layer2 = 200
x = tf.placeholder(tf.float32,[None,16])
y = tf.placeholder(tf.float32,[None,1])
Weights_L1 = tf.Variable(tf.random_normal([16,hidden_layer1]))
biases_L1 = tf.Variable(tf.random_normal([1,hidden_layer1]))
Wx_plus_b_L1 = tf.matmul(x,Weights_L1) + biases_L1
L1=tf.nn.relu(Wx_plus_b_L1)
Weights_L2 = tf.Variable( tf.random_normal([hidden_layer1,1]))
biases_L2 = tf.Variable( tf.random_normal([1,1]))
Wx_plus_b_L2 = tf.matmul(L1,Weights_L2) + biases_L2
pred = tf.nn.sigmoid(Wx_plus_b_L2)
loss = tf.reduce_mean(tf.square(y-pred))
learning_rate=0.05
train_step = tf.train.GradientDescentOptimizer(learning_rate).minimize(loss)
pred_correct = tf.equal(y,pred)
accuracy = tf.reduce_mean(tf.cast(pred_correct,tf.float32))
batch_num = 0
with tf.Session() as ss:
ss.run(tf.global_variables_initializer())
for step in range(500):
ss.run(train_step,feed_dict={x:bank_train_x,y:bank_train_y})
if step%100==0:
batch_num = batch_num +1
acc1 = ss.run(accuracy,feed_dict={x:bank_train_x,y:bank_train_y})
print("train acc"+ str(step) + ", " + str(acc1) +" , batch_num:" + str(batch_num))
#print(ss.run(learning_rate,feed_dict={global_:step}))
p = ss.run(pred,feed_dict={x:bank_train_x,y:bank_train_y})
acc2 = ss.run(accuracy,feed_dict={x:bank_test_x,y:bank_test_y})
print("test acc" + str(acc2))
def calc(pred,y):
l = y.shape[0]
a = 0
b=0
c=0
d=0
for i in range(l):
if (p[i] >0.5 and y[i] == 0):
a = a +1
elif (p[i] >0.5 and y[i] == 1):
b = b+1
elif (p[i] <0.5 and y[i] == 0):
c = c+1
elif (p[i] <0.5 and y[i] == 1):
d = d +1
print(a,b,c,d)
calc(p,bank_train_y)
#the result is 169 0 34959 4629

No module named 'Models', python 3.5.2

Got this Arkanoid clone code from internet however even after installing pygame binary still doesn' t want to work ("ImportError: No module named 'Models'"). I am using Spyder Python 3.5 and i cloned all repo from there https://github.com/Killavus/PyGame-Arkanoid
import pygame
import sys
import math
import random
from pygame.locals import *
import GameModule
from GameModule.Models import *
from GameModule.Constants import *
class Game:
def playSound( self, fileName ):
sound = pygame.mixer.Sound(fileName)
sound.play()
def __init__(self):
pygame.init()
pygame.mixer.init(11025)
self.actualState = states["START"]
self.display = pygame.display.set_mode( gfx["screen"] )
pygame.display.set_caption( "Arkanoid v" + version )
# 4 basic objects, which define the game
## Painter - drawing actual situation on screen
## Mapper - loading the map
## Status - holding stance of the game: points, lifes, actual powerups etc
## Objects - holding actual game's objects: balls, bricks, pad etc
self.objects = GameModule.Objects()
self.mapper = GameModule.Mapper( self.objects )
self.status = Status()
self.painter = GameModule.Painter( self.display, self.objects, self.status )
self.lastState = None
self.fps = pygame.time.Clock()
self.newLevel()
def loop(self):
self.fps.tick( gfx["framerate"] )
for event in pygame.event.get():
self.handleGlobalEvents( event )
self.handleEvents( event )
self.handleKeyboard()
self.updateState()
if self.actualState != states["GAMEOVER"]:
self.painter.draw()
else:
self.display.fill( (0,0,0) )
bigFont = pygame.font.SysFont( "sans-serif", 32 )
gameOver = bigFont.render( "GAME OVER!", True, (255,255,255) )
smallFont = pygame.font.SysFont( "sans-serif", 18 )
points = smallFont.render( "Punktow: " + str(self.status.points), True, (255,255,255) )
self.display.blit( gameOver, (gfx["screen"][0]/2 - gameOver.get_size()[0]/2, gfx["screen"][1]/2 - gameOver.get_size()[1]/2) )
self.display.blit( points, (gfx["screen"][0]/2 - points.get_size()[0]/2, gfx["screen"][1]/2 - gameOver.get_size()[1]/2 - 40) )
pygame.display.update()
def handleEvents( self, event ):
if self.actualState != states["PAUSE"]:
if event.type == KEYDOWN:
if event.key == K_p:
self.lastState = self.actualState
self.actualState = states["PAUSE"]
self.painter.paused = True
else:
if event.type == KEYDOWN:
if event.key == K_p:
self.actualState = self.lastState
self.painter.paused = False
if self.actualState == states["START"]:
if event.type == KEYDOWN:
if event.key == K_SPACE:
self.actualState = states["PROGRESS"]
(self.objects.balls())[0].speedChange( int( math.copysign( 5., float(self.objects.pad().lastMove) ) ), -5 )
def handleGlobalEvents( self, event ):
if event.type == QUIT:
sys.exit()
def handleKeyboard(self):
pressed = pygame.key.get_pressed()
if self.actualState == states["PROGRESS"] or self.actualState == states["START"]:
if pressed[K_LEFT]:
if self.objects.pad().move(-10) and self.actualState == states["START"]:
(self.objects.balls())[0].move(-10,0)
if pressed[K_RIGHT]:
if self.objects.pad().move(10) and self.actualState == states["START"]:
(self.objects.balls())[0].move(10,0)
def updateState(self):
if self.actualState == states["PAUSE"]:
return
if self.actualState == states["PROGRESS"]:
self.objects.updatePowerups()
for ball in self.objects.balls():
speed = ball.speed()
ball.move( speed[0], speed[1] )
if ball.collideWithWall():
pos = ball.pos()
if pos[0] == 0 or pos[0] >= gfx["screen"][0] - ball.image.get_size()[0] - 1:
ball.xInvert()
if pos[1] == 0:
ball.yInvert()
if pos[1] >= gfx["screen"][1] - ball.image.get_size()[1] - 1:
self.status.lives -= 1
self.actualState = states["START"]
self.playSound( "Resources/snd/chord.wav" )
while len(self.objects.balls()) != 1:
self.objects.removeBall((self.objects.balls())[0])
for powerup in self.objects.powerups():
self.objects.deletePowerup(powerup)
self.objects.balls()[0].reset()
self.objects.pad().reset()
for obj in self.objects.grid():
if ball.collision(obj):
self.status.points += 100
if obj.realx <= ball.position[0] and obj.realx + gfx["grid"][0] >= ball.position[0]:
ball.yInvert()
if obj.realy <= ball.position[1] and obj.realy + gfx["grid"][1] >= ball.position[1]:
ball.xInvert()
self.handleBrickCollision(obj)
if ball.collision(self.objects.pad()):
ball.yInvert()
if self.objects.pad().position[1] <= ball.position[1] and self.objects.pad().position[1] + gfx["grid"][1] >= ball.position[1]:
ball.xInvert()
for powerup in self.objects.powerups():
pad = self.objects.pad()
if powerup.collision(pad):
self.objects.deletePowerup(powerup)
self.generatePowerup()
if powerup.y == gfx["screen"][1] - 1 - powerup.image.get_size()[1]:
self.objects.deletePowerup(powerup)
if self.status.lives == 0:
self.actualState = states["GAMEOVER"]
if self.objects.grid() == []:
self.status.level += 1
if len(levels) == self.status.level:
self.actualStatus = states["GAMEOVER"]
else:
self.newLevel()
for modifier in self.status.modifiers:
modifier[1] -= 1
if modifier[1] == 0:
if modifier[0] == "big_pad":
self.objects.pad().setWidth(3)
del modifier
def generatePowerup(self):
r = random.randint(1,3)
# 3 possible powerups:
# 1 - +1 life
# 2 - for 30 sec the pad is larger
# 3 - additional ball
print (r)
if r == 1:
self.status.lives += 1
elif r == 2:
self.status.modifiers.append( [ "big_pad", gfx["framerate"] * 30 ] )
self.objects.pad().setWidth(5)
elif r == 3:
ball = Ball()
ball.position[0] = self.objects.pad().position[0] + (gfx["grid"][0]*self.objects.pad().gridWidth/2)
ball.speedChange( int( math.copysign( 5., float(self.objects.pad().lastMove) ) ), -5 )
self.objects.addBall(ball)
def handleBrickCollision(self,obj):
brickType = obj.getType()
if brickType == "simple":
self.objects.setGrid( obj.x, obj.y, None )
rand = random.randint( 0, 9 )
if rand == 9: # 1/10 chance for powerup
self.objects.spawnPowerup( obj.x, obj.y )
elif brickType == "solid":
self.objects.setGrid( obj.x, obj.y, SimpleBrick(obj.x,obj.y) )
elif brickType == "ghost":
newType = random.randint( 0, 1 )
if newType == 0:
self.objects.setGrid( obj.x, obj.y, SimpleBrick(obj.x,obj.y) )
elif newType == 1:
self.objects.setGrid( obj.x, obj.y, SolidBrick(obj.x,obj.y) )
self.playSound( "Resources/snd/ding.wav" )
def newLevel(self):
self.playSound( "Resources/snd/tada.wav" )
self.mapper.load( self.status.level )
self.objects.pad().reset()
while len(self.objects.balls()) != 1:
self.objects.removeBall((self.objects.balls())[0])
self.objects.balls()[0].reset()
self.actualState = states["START"]
class Status:
def __init__(self):
self.level = 0
self.points = 0
self.lives = startState["lives"]
self.modifiers = []
game = Game()
while True:
game.loop()