def initialActions():
ctr = 0
while True:
motor_control.addAngleInstruction(45)
time.sleep(2)
sensor_control.event.wait()
markers = sensor_control.getMarkers()
sensor_control.event.clear()
if len(markers) > 0:
for m in markers:
if m.info.marker_type == MARKER_ARENA and m.dist < 2100:
code = m.info.code
strategy.homenumber = (
0 if 0 <= code <= 6 else 1 if 21 <= code <= 27 else 2 if 14 <= code <= 20 else 3
)
coor = m_info[code]
homecoor = computeAbsolutePositionByArenaMarker(m)
motor_control.currentAngle = homecoor[2]
home = (homecoor[0], homecoor[1])
strategy.home = home
motor_control.addAngleInstruction(-ctr * 30)
debug("Token found!")
break
else:
debug("No token found!")
ctr += 1
def startEventLoop():
debug("Starting event loop")
global running
running = True
strategy = Strategy(robot)
while running:
sensor_control.event.wait()
markers = sensor_control.getMarkers()
sensor_control.event.clear()
strategy.reach(markers)
