def getpercepts(self, beliefbase):
dist = pi2go.getDistance()
beliefbase['distance'] = dist
irR = pi2go.irRight()
beliefbase['obstacle_right'] = irR
irL = pi2go.irLeft()
beliefbase['obstacle_left'] = irL
irC = pi2go.irCentre()
beliefbase['obstacle_centre'] = irC
irLL = pi2go.irLeftLine()
beliefbase['line_left'] = irLL
irRL = pi2go.irRightLine()
beliefbase['line_right'] = irRL
switch = pi2go.getSwitch()
beliefbase['switch_pressed']= switch
lightFL = pi2go.getLightFL()
beliefbase['lightFL'] = lightFL
lightFR = pi2go.getLightFR()
beliefbase['lightFR'] = lightFR
lightBL = pi2go.getLightBL()
beliefbase['lightBL'] = lightBL
lightBR = pi2go.getLightBR()
beliefbase['lightBR'] = lightBR
super()
return
def getpercepts(self, beliefbase):
dist = 50
beliefbase['distance'] = dist
irR = robohat.irRight()
beliefbase['obstacle_right'] = irR
irL = robohat.irLeft()
beliefbase['obstacle_left'] = irL
irLL = robohat.irLeftLine()
beliefbase['no_line_left'] = irLL
irRL = robohat.irRightLine()
beliefbase['no_line_right'] = irRL
super()
return
def getpercepts(self, beliefbase):
dist = initio.getDistance()
beliefbase['distance'] = dist
irR = initio.irRight()
beliefbase['obstacle_right'] = irR
irL = initio.irLeft()
beliefbase['obstacle_left'] = irL
irLL = initio.irLeftLine()
beliefbase['line_left'] = irLL
irRL = initio.irRightLine()
beliefbase['line_right'] = irRL
super()
return
import simclient.simrobot as initio
import time
speed = 60
turn_speed = 50
initio.init()
# main loop
try:
while True:
print initio.irLeft(), initio.irRight()
if initio.irAll():
if initio.irLeft():
initio.spinRight(turn_speed)
elif initio.irRight():
initio.spinLeft(turn_speed)
while initio.irAll():
time.sleep(0.2)
else:
initio.forward(speed)
time.sleep(0.2)
except KeyboardInterrupt:
initio.cleanup()
import time
import simclient.simrobot as initio
stop_range = 100.0
turn_speed = 50
move_speed = 60
sonar_wait = 1.5
PAN = 0
initio.init()
try:
while True:
print initio.getDistance(), initio.irLeft(), initio.irRight()
if initio.getDistance() < stop_range:
initio.stop()
print "range less than %f, looking around" % stop_range
left = right = 0
initio.setServo(PAN, -70)
time.sleep(sonar_wait)
right = initio.getDistance()
print "right range: %f" % right
initio.setServo(PAN, 70)
time.sleep(sonar_wait)
left = initio.getDistance()
print "left range: %f" % left
initio.setServo(PAN, 0)
time.sleep(sonar_wait)
turn = 0