def move_till(destination,direction):
#determine whether right or left wall
if direction=='right':
first='right'
second='left'
elif direction=='left':
first='left'
second='left'
#if first open turn right
if dist.check(first):
motion.turn(first)
if callable(motion.forward):
dist.thread_forward(first)
#if front blocked, check for destination
if not check('front'):
motion.stop()
if destination=='qr':
if dist.check_for_qr:
if vision.scan_qr():
wait_for_path(direction)
return True
elif destination=='box' or destination=='block':
if vision.check_for_block():
wait_for_path(direction)
return True
elif destination=='end':
if vision.ground_is_white():
return True
#turn second if nothing found
else:
motion.turn(second)
#call func again until destination reached
return move_till(destination,direction)
def approach_nest(ant):
"""Moves the ant ahead if that cell is its nest."""
# check if the cell in front is the ant's nest
for d in ((ant.direction + x) % 8 for x in range(-2, 3)):
if motion.neighbor(ant, d) == ant.world.nest:
motion.turn(ant, (d - ant.direction) % 8)
motion.forward(ant)
return True
def approach_food(ant):
"""Moves the ant ahead if that cell contains food."""
for d in ((ant.direction + x) % 8 for x in range(-1, 2)):
idx = motion.neighbor(ant, d)
cell = ant.world[idx]
if cell.food_quantity > 0 and idx != ant.world.nest:
motion.turn(ant, (d - ant.direction) % 8)
motion.forward(ant)
return True
def perform(self, action, cave, kb):
"""Performs an action.
Returns True if the action kills the Wumpus, otherwise False."""
kind, rotations = action
if kind == Action.Move:
self.move(rotations)
elif kind == Action.Shoot:
if rotations is not None:
self.direction = turn(self.direction, rotations)
return self.shoot(cave, kb)
elif kind == Action.Grab:
cave[self.location].gold = Status.Absent
self.has_gold = True
elif kind == Action.Turn:
self.direction = turn(self.direction, rotations)
return False
def move():
#measure time elapsed
time=time.time()-time0
#right check
if distances.box_on_right:
motion.turn('right')
path.append(['right',time])
elif distances.right_open:
motion.turn(right)
path.append(['left',time])
motion.forward()
path.append['forward',time]
#front check
elif distances.front_blocked:
if vision.check_for_box():
motion.stop()
#stores box coordinate in path
box_coordinates.append(len(path)-1)
wait_for_path()
elif distances.check_for_qr():
motion.stop()
qr_coordinates.append(len(path)-1)
number_of_boxes_found=len(box_coordinates)
if number_of_boxes_found<2:
motion.turn('left')
else: wait_for_path()
else:
motion.turn('left')
path.append(['left',time])
#define start-end coordinates
if vision.ground_is_white:
if len(start_coordinates)<2:
start_coordinates.append(len(path)-1)
else:
end_coordinates.append(len(path)-1)
if len(start_coordinates)==2:
path.clear()
follow_path=min_path(path_trim(path,start[0],qr_coordinates[0]),path_trim(start[1],qr_coordinates[0]))
time=0
#call method again
move()
def turn(self, heading, callback=lambda: None):
self.turning = True
motion.turn(heading, callback=self.private_turn_callback)
import motion import time import particles for i in range(4): motion.fwd_amt(50) motion.stop() motion.turn(90, "r") motion.stop() ''' particles.initialise() particles.draw() time.sleep(1) particles.update_forward(100) particles.draw() time.sleep(1) particles.update_forward(100) particles.draw() time.sleep(1) particles.update_forward(100) particles.draw() time.sleep(1) particles.update_rotate(90) particles.draw() time.sleep(1)
def uturn():
motion.turn('left')
motion.turn('left')
def move(self, rotations):
"""Moves the agent."""
for steps in rotations:
self.direction = turn(self.direction, steps)
self.location = move_forward(self.location, self.direction)
def move(argument):
global number_of_qr
global number_of_boxes
global box_coordinates
global qr_coordinates
global t
global time0
#global nodes
#update variables required
print('bot: (move called again) right wall dist=',
us.dist(us.right_trig, us.right_echo))
# if right is open, it will stop, turn right
if check('right'):
print('bot:right is open ')
motion.stop()
motion.turn('right')
#move forward
if callable(motion.forward):
thread_forward('right')
if not check('front'):
#if front is blocked, it will check for boxes
motion.stop()
if check_for_qr():
number_of_qr += 1
#if we are still in the first loop num will be <2
if number_of_qr == 1:
#if we have not detected all boxes in the first loop
#it will continue mapping 1st loop
t += time.time() - time0
qr_coordinates.append(t)
motion.turn('left')
time0 = time.time()
#if we have detected all boxes, move to next loop
#we have finished mapping 1st loop
elif number_of_qr == 2:
wait_for_path()
time0 = time.time()
#second loop
elif number_of_qr == 3:
t += time.time() - time0
qr_coordinates.append(t)
wait_for_path()
time0 = time.time()
elif vision.check_for_block():
t += time.time() - time0
box_coordinates.append(t)
wait_for_path()
time0 = time.time()
#if nothing found it will turn left and check the ground
else:
motion.turn('left')
if vision.ground_is_white():
t += time.time() - time0
if number_of_qr >= 2:
end_coordinates.append(t)
#nodes.append('end')
else:
start_coordinates.append(t)
#now we have to go to the qr block...
#to move to the next loop
#set t=0 for next loop
if qr_coordinates[0] > start[1] - qr_coordinates[0]:
wet_run.uturn()
if wet_run.move_till('qr', 'left'):
t = 0
else:
if wet_run.move_till('qr', 'right'):
t = 0
#elif callable(motion.forward):
#put condition for finishing mapping here
if (len(qr_coordinates) == 2) + (number_of_boxes
== 3) + (len(end_coordinates) == 1) < 3:
return move()
else:
return [
qr_coordinates, box_coordinates, start_coordinates, end_coordinates
]