def start_test(self,challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'theta' not in vals:
raise CourseraException("Unknown challenge format. Please contact developers for assistance.")
v = vals['v']
theta = vals['theta']
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
from helpers import Struct
from math import pi
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(),info)
params = Struct()
params.goal = theta*180/pi
params.velocity = v
params.pgain = 1
s.set_parameters(params)
tc = 0.033 # 0.033 sec' is the SimIAm time step
for step in range(25): # 25 steps
bot.move(tc)
bot.set_inputs(s.execute(bot.get_info(), tc))
xe,ye,te = s.pose_est
xr,yr,tr = bot.get_pose()
self.testsuite.respond("{:0.3f},{:0.3f},{:0.3f}".format(abs((xr-xe)/xr), abs((yr-ye)/yr), abs(abs(tr-te)%(2*pi)/tr)))
def start_test(self, challenge):
m = self.RX.match(challenge)
if m is None:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
try:
v = float(m.group('v'))
theta = float(m.group('theta'))
except ValueError:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
from helpers import Struct
from math import pi
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
params = Struct()
params.goal = theta * 180 / pi
params.velocity = v
params.pgain = 1
s.set_parameters(params)
tc = 0.033 # 0.033 sec' is the SimIAm time step
for step in range(25): # 25 steps
bot.move(tc)
bot.set_inputs(s.execute(bot.get_info(), tc))
xe, ye, te = s.pose_est
xr, yr, tr = bot.get_pose()
if xr == 0:
xr = 0.0000001
if yr == 0:
yr = 0.0000001
if tr == 0:
tr = 0.0000001
self.testsuite.respond("{:0.3f},{:0.3f},{:0.3f}".format(
abs((xr - xe) / xr), abs((yr - ye) / yr),
abs(abs(tr - te) % (2 * pi) / tr)))
def start_test(self,challenge):
m = self.RX.match(challenge)
if m is None:
raise CourseraException("Unknown challenge format. Please contact developers for assistance.")
try:
v = float(m.group('v'))
theta = float(m.group('theta'))
except ValueError:
raise CourseraException("Unknown challenge format. Please contact developers for assistance.")
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
from helpers import Struct
from math import pi
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(),info)
params = Struct()
params.goal = theta*180/pi
params.velocity = v
params.pgain = 1
s.set_parameters(params)
tc = 0.033 # 0.033 sec' is the SimIAm time step
for step in range(25): # 25 steps
bot.move(tc)
bot.set_inputs(s.execute(bot.get_info(), tc))
xe,ye,te = s.pose_est
xr,yr,tr = bot.get_pose()
if xr == 0:
xr = 0.0000001
if yr == 0:
yr = 0.0000001
if tr == 0:
tr = 0.0000001
self.testsuite.respond("{:0.3f},{:0.3f},{:0.3f}".format(abs((xr-xe)/xr), abs((yr-ye)/yr), abs(abs(tr-te)%(2*pi)/tr)))
def start_test(self, challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'theta' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
v = vals['v']
theta = vals['theta']
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
from helpers import Struct
from math import pi
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
params = Struct()
params.goal = theta * 180 / pi
params.velocity = v
params.pgain = 1
s.set_parameters(params)
tc = 0.033 # 0.033 sec' is the SimIAm time step
for step in range(25): # 25 steps
bot.move(tc)
bot.set_inputs(s.execute(bot.get_info(), tc))
xe, ye, te = s.pose_est
xr, yr, tr = bot.get_pose()
self.testsuite.respond("{:0.3f},{:0.3f},{:0.3f}".format(
abs((xr - xe) / xr), abs((yr - ye) / yr),
abs(abs(tr - te) % (2 * pi) / tr)))