def sense_and_act(self):
line_sensob = self.sensobs[0]
if not isinstance(line_sensob, LineSensob):
raise Exception("Invalid type for line_sensob: "+str(type(line_sensob)))
found_lines = line_sensob.get_found_lines()
position = line_sensob.get_line_position()
self.set_match_degree(1.0 if found_lines else 0.0)
left_sign, right_sign = 1.0, 1.0 # Negate in if-test to reverse motor
if position < 0.5: # Line is left, drive right
strength = max(0.3, position/0.5) # Map to [0.3, 1]
right_sign = -1.0
else: # Line is right, drive left
strength = max(0.3, 0.5-(position-0.5)/0.5) # Map to [0.3, 1]
left_sign = -1.0
# Meh, override strength
strength = 1.0
print("AvoidLineBehaviour: Strength: " + str(strength))
amount = 1.0*strength # Motor power in range [0, 1.0]
if not found_lines:
print("AvoidLineBehaviour: Did not find any lines")
# If arbitrator chooses this anyways, then don't drive.
amount = 0.0
# Recommendation is a list with tuples for each motob.
recommendation = [make_recommendation(amount*left_sign, amount*right_sign)]
self.motor_recommendations = [recommendation]
print(self)
def sense_and_act(self):
ultra_sensob = self.sensobs[0]
if not isinstance(ultra_sensob, UltraSensob):
raise Exception("Invalid type for line_sensob: "+str(type(ultra_sensob)))
distance = ultra_sensob.get_value() # distance cm
if distance <= 5:
recommendation = [make_recommendation(-1, -1)]
self.motor_recommendations = [recommendation] #recommends the motors to stop
self.set_match_degree(1.0) #sets a high match degree
else:
self.set_match_degree(0.0)
print(self)
def sense_and_act(self):
red_detector = self.sensobs[0]
if not isinstance(red_detector, RedDetector):
raise Exception("Invalid type red_detector: " + str(type(red_detector)))
red_position = red_detector.get_red_position()
red_position = red_detector.get_red_position()
left = abs(1.0-red_position)/2.0
right = abs(red_position)/2.0
left = min(left, 1.0)
right = min(right, 1.0)
print("\033[91m Red position: "+str(red_position)+ ", dir:{} {}".format(left, right) +"\033[0m")
recommendation = [make_recommendation(left, right)]
self.motor_recommendations = [recommendation]
confidence = red_detector.get_confidence() * 0.9
print("RED confidence: {}".format(confidence))
self.set_match_degree(confidence)
