class App:
def __init__(self):
self.win = tk.Tk()
self.win.geometry("640x400")
self.canvas = Canvas()
self.canvas.pack()
self.scr = TurtleScreen(self.canvas)
self.t = RawTurtle(self.scr)
self.btn = Button(self.win, text="Press me!", command=self.do_action())
self.btn.pack()
def do_action(self):
self.t.pensize(3)
self.t.pencolor(random.choice(colors))
self.t.speed(0)
self.length = 5
while self.length < 500:
self.t.left(89)
self.t.forward(self.length)
self.t.right(-105)
self.t.forward(self.length)
self.length += 3
def run(self):
self.win.mainloop()
class App :
def __init__(self):
self.win = Tk()
self.btn = Button(self.win, text="확인", command=self.press)
self.btn.pack()
self.canvas = Canvas(self.win)
self.canvas.config(width=600, height=300)
self.canvas.pack()
self.src = TurtleScreen(self.canvas)
self.t = RawTurtle(self.src)
self.t.pensize(5)
# 서버와 소켓 연결
self.client = socket(AF_INET, SOCK_STREAM)
self.client.connect(('127.0.0.1',9999))
def move(self):
print("터틀 제어하기")
# 서버에서 받은 데이터로 터틀을 제어한다.
data = self.client.recv(1024)
obj = json.loads(data.decode('utf-8'))
direction = obj['direction']
angle = obj['angle']
self.t.left(angle) if direction=='L' else self.t.right(angle)
self.t.forward(obj['length'])
def press(self):
self.client.send('I am Client^^'.encode('utf-8'))
print("서버에 메세지 보내기")
# 터틀 제어하기
self.move()
def lihtne_demo():
#tekitame objekti, mis kuulub klassi Screen
ekraan = Screen()
#tekitame konna objekti, mis kuulub klassi RawTrutle ja on ekraani peal
konn = RawTurtle(ekraan)
konn.forward(100)
#tekitame teise konna
kermit = RawTurtle(ekraan)
kermit.color("green")
kermit.left(30)
kermit.forward(50)
#liigutame esimest konna
konn.back(100)
def draw_maze(maze,
scale,
*,
screen=None,
tracer=False,
delay=0,
speed=0,
updates=False,
start_x=0,
start_y=0):
if screen is None:
screen = Screen()
width = scale * maze.width
height = scale * maze.height
original_tracer = screen.tracer()
original_delay = screen.delay()
screen.tracer(tracer)
screen.delay(delay)
turtle = RawTurtle(screen, visible=False)
turtle.speed(speed)
turtle.setpos(start_x, start_y)
turtle.setheading(0)
turtle.showturtle()
x, y, dx, dy = 0, 0, 1, 0
while True:
sx, sy = rotate_right(dx, dy)
print(x, y, maze[x, y])
if maze[x, y][sx, sy]:
if maze[x, y][rotate_left(sx, sy)]:
print('a')
turtle.forward(scale - 1)
turtle.left(90)
dx, dy = rotate_left(dx, dy)
else:
print('b')
turtle.forward(scale)
x, y = x + dx, y + dy
else:
print('c')
turtle.right(90)
turtle.forward(1)
dx, dy = rotate_right(dx, dy)
x, y = x + dx, y + dy
if (x, y, dx, dy) == (0, 0, 1, 0):
break
screen.tracer(original_tracer)
screen.delay(original_delay)
screen.update()
return screen
class Sierpinski:
def __init__(self, x):
self.it = x
S = "E+D+D"
for i in range(self.it):
pesan = ""
for j in range(len(S)):
if S[j] == "E":
pesan += "E+D-E-D+E"
elif S[j] == "D":
pesan += "DD"
else:
pesan += S[j]
S = pesan
root3 = tk.Tk()
if self.it != 1:
root3.title('Sierpinski Fractal with ' + str(self.it) +
' iterations')
else:
root3.title('Sierpinski Fractal with an iteration')
self.canvas = ScrolledCanvas(master=root3, width=1000, height=1000)
self.canvas.pack(fill=tk.BOTH, expand=tk.YES)
screen = TurtleScreen(self.canvas)
screen.screensize(10000, 10000)
self.turtle = RawTurtle(screen)
self.turtle.ht()
self.turtle.speed(0)
for i in range(len(S)):
if S[i] == "E" or S[i] == "D":
self.turtle.forward(10)
elif S[i] == "+":
self.turtle.left(120)
else:
self.turtle.right(120)
self.canvas.bind('<MouseWheel>', self.zoom)
screen.mainloop()
def zoom(self, event):
amount = 0.9 if event.delta < 0 else 1.1
self.canvas.scale(tk.ALL, 0, 0, amount, amount)
def draw(list_rectangles, list_squares):
"""
Opens a window and draws all the Rectangles and Squares using turtle module
Args:
list_rectangles (list): list of rectangles to draw
list_squares (list): list of squares to draw
"""
screen = Screen()
screen.setup()
screen.bgcolor("black")
colors = ["cyan", "red", "blue", "white",
"purple", "green", "brown", "#285078"]
square = RawTurtle(screen)
rectangle = RawTurtle(screen)
# square.speed(10)
# rectangle.speed(10)
for sq in list_squares:
square.penup()
square.home()
square.color(random.choice(colors))
square.goto(sq.x, sq.y)
square.pendown()
square.begin_fill()
i = 0
while i < 4:
square.forward(sq.size)
square.left(90)
i += 1
square.end_fill()
square.hideturtle()
for rect in list_rectangles:
rectangle.penup()
rectangle.home()
rectangle.color(random.choice(colors))
rectangle.goto(rect.x, rect.y)
rectangle.pendown()
i = 0
while i < 2:
rectangle.forward(rect.width)
rectangle.left(90)
rectangle.forward(rect.height)
rectangle.left(90)
i += 1
rectangle.hideturtle()
done()
class TurtleCanvas():
def __init__(self,canvas):
#self.window = master
#self.canvas = ScrolledCanvas(master=self.window, width=800, height=600)
#self.canvas.pack(fill=tk.BOTH, expand=tk.YES)
self.canvas = canvas
self.screen = TurtleScreen(canvas)
self.turtle = RawTurtle(self.screen)
self.turtle.speed("fastest")
#self.window.geometry('%dx%d+%d+%d' % (cWidth, cHeight, x, y))
self.canvas.bind('<MouseWheel>', self.zoom)
self.canvas.bind("<ButtonPress-1>", self.scroll_start)
self.canvas.bind("<B1-Motion>", self.scroll_move)
self.canvas.bind("<ButtonPress-3>", self.changeDirection)
#self.canvas.bind("<c>", self.changeColor)
self.rightDirection = True
def changeDirection(self,event):
#print(self.rightDirection)
if(self.rightDirection):
self.rightDirection = False
else:
self.rightDirection = True
def changeColor(self,event):
currentColorIndex = colors.index(self.turtle.color()[0])
if (currentColorIndex == (len(colors) - 1)):
self.turtle.color(colors[0])
else:
self.turtle.color(colors[currentColorIndex + 1])
def scroll_start(self,event):
self.canvas.scan_mark(event.x, event.y)
def scroll_move(self,event):
self.canvas.scan_dragto(event.x, event.y, gain=1)
def zoom(self,event):
amount = 0.9 if event.delta < 0 else 1.1
self.canvas.scale(tk.ALL, 0, 0, amount, amount)
def square(self,sidelength = 50):
for i in range(4):
self.turtle.forward(sidelength)
self.turtle.right(90)
def triangle(self,sidelength = 50):
for i in range(3):
self.turtle.forward(sidelength)
self.turtle.right(120)
def star(self,sidelength = 50):
for i in range(5):
self.turtle.forward(sidelength)
self.turtle.right(144)
def shapeDriver(self, shapeFunc, steps):
self.turtle.st()
i = 0
for j in range(steps):
shapeFunc(1 + i)
if(self.rightDirection == True):
self.turtle.right(1)
else:
self.turtle.left(1)
i += 0.1
self.turtle.ht()
def helperDriver(self, shape, steps, color):
print(color)
self.turtle.color(color)
if(shape == "Square"):
self.shapeDriver(self.square,steps)
if(shape == "Triangle"):
self.shapeDriver(self.triangle,steps)
if(shape == "Star"):
self.shapeDriver(self.star,steps)
class Vehicle:
def __init__(self, turtle_window, id_number):
# comment here
self.turtle_window = turtle_window
self.id_number = id_number
# comment here
self.speed_params = [20, 0.2, 6]
self.turn_parameters = [20]
# comment here
self.turtle_object = RawTurtle(self.turtle_window.wn)
self.turtle_object.hideturtle()
self.turtle_object.shape('turtle')
self.turtle_object.turtlesize(1)
self.turtle_object.penup()
# comment here
self.likes_food_dict = {'Sugar': random.choice([True, False])}
# comment here
if self.likes_food_dict['Sugar']:
self.turtle_object.color("red", (1, 0.85, 0.85))
else:
self.turtle_object.color("blue", (0.85, 0.85, 1))
# comment here
self.place()
self.turtle_object.showturtle()
def place(self):
# comment here
self.turtle_object.goto(random.randint(-MAX_LOCATION, MAX_LOCATION),
random.randint(-MAX_LOCATION, MAX_LOCATION))
self.turtle_object.right(random.randint(0, 360))
def move(self):
# comment here
cumulative_speed = 0
cumulative_turn_amount = 0
# comment here
for food_source in self.turtle_window.food_source_list:
# comment here
likes_food = self.likes_food_dict[food_source.name]
# comment here
input_distance = self.turtle_object.distance(
food_source.turtle_object.pos())
# comment here
input_angle = self.turtle_object.heading(
) - self.turtle_object.towards(food_source.turtle_object.pos())
# comment here
sin_angle = math.sin(math.radians(input_angle))
# comment here
left_sensor_distance = input_distance - sin_angle
right_sensor_distance = input_distance + sin_angle
# comment here
left_speed, right_speed, combined_speed = self.compute_speed(
left_sensor_distance, right_sensor_distance, likes_food)
# comment here
turn_amount = self.turn_parameters[0] * (right_speed - left_speed)
# comment here
cumulative_speed += combined_speed
cumulative_turn_amount += turn_amount
# comment here
if isinstance(cumulative_turn_amount, complex):
cumulative_turn_amount = 0
# comment here
if cumulative_speed < 0:
cumulative_speed = 0
# comment here
self.turtle_object.right(cumulative_turn_amount)
self.turtle_object.forward(cumulative_speed)
# comment here
self.check_border_collision()
def check_border_collision(self):
'''
comment here. Make one big comment for the function, but it must be more specific and detailed then
just repeating the function name...
'''
if self.turtle_object.xcor() > MAX_LOCATION:
self.turtle_object.goto(MAX_LOCATION, self.turtle_object.ycor())
if self.turtle_object.xcor() < -MAX_LOCATION:
self.turtle_object.goto(-MAX_LOCATION, self.turtle_object.ycor())
if self.turtle_object.ycor() > MAX_LOCATION:
self.turtle_object.goto(self.turtle_object.xcor(), MAX_LOCATION)
if self.turtle_object.ycor() < -MAX_LOCATION:
self.turtle_object.goto(self.turtle_object.xcor(), -MAX_LOCATION)
if self.turtle_object.ycor() <= -MAX_LOCATION:
if 0 <= self.turtle_object.heading() <= 180:
turn_angle = 180 - self.turtle_object.heading()
self.turtle_object.setheading(turn_angle)
else:
turn_angle = abs(360 - self.turtle_object.heading())
self.turtle_object.setheading(turn_angle)
if self.turtle_object.ycor() >= MAX_LOCATION:
if 0 <= self.turtle_object.heading() <= 180:
turn_angle = 360 - self.turtle_object.heading()
self.turtle_object.setheading(turn_angle)
else:
turn_angle = 360 - (self.turtle_object.heading() - 180)
self.turtle_object.setheading(turn_angle)
if self.turtle_object.xcor() <= -MAX_LOCATION:
if 0 <= self.turtle_object.heading() <= 90:
turn_angle = 360 - self.turtle_object.heading()
self.turtle_object.setheading(turn_angle)
if 270 < self.turtle_object.heading() <= 360:
turn_angle = 360 - self.turtle_object.heading()
self.turtle_object.setheading(turn_angle)
if 90 < self.turtle_object.heading() < 180:
turn_angle = self.turtle_object.heading() - 90
self.turtle_object.setheading(turn_angle)
if 180 <= self.turtle_object.heading() <= 360:
turn_angle = self.turtle_object.heading() + 90
self.turtle_object.setheading(turn_angle)
if self.turtle_object.xcor() >= MAX_LOCATION:
if 0 <= self.turtle_object.heading() <= 180:
turn_angle = self.turtle_object.heading() + 90
self.turtle_object.setheading(turn_angle)
else:
turn_angle = self.turtle_object.heading() - 90
self.turtle_object.setheading(turn_angle)
###############################################################################################################
def compute_speed(self, left_distance, right_distance, likes_food):
'''
comment here. Make one big comment for the function, but it must be more specific and detailed then
just repeating the function name... explain this in Braitenberg's terms
'''
if likes_food:
left_speed = (
self.speed_params[0] /
(right_distance**self.speed_params[1])) - self.speed_params[2]
right_speed = (
self.speed_params[0] /
(left_distance**self.speed_params[1])) - self.speed_params[2]
else:
left_speed = (
self.speed_params[0] /
(left_distance**self.speed_params[1])) - self.speed_params[2]
right_speed = (
self.speed_params[0] /
(right_distance**self.speed_params[1])) - self.speed_params[2]
combined_speed = (left_speed + right_speed) / 2
return left_speed, right_speed, combined_speed
from turtle import TurtleScreen, RawTurtle, TK
root = TK.Tk()
root.title("Ejemplo 1")
canvas = TK.Canvas(root, width=500, height=500)
canvas.pack()
turtle = RawTurtle(screen)
turtle.shape("turtle")
turtle.left(20)
turtle.forward(50)
turtle.left(90)
turtle.forward(50)
turtle.left(90)
turtle.forward(50)
turtle.left(90)
turtle.forward(50)
turtle.left(90)
delay(1000)
turtle.left(30)
turtle.forward(50)
turtle.left(90)
turtle.forward(50)
turtle.left(90)
turtle.forward(50)
turtle.left(90)
turtle.forward(50)
turtle_canvas.bgcolor("white")
# Create a turtle to draw on the canvas
sammy = RawTurtle(turtle_canvas)
# If you want the drawing to be as fast as possible, uncomment these lines
# turtle_canvas.delay(0)
# sammy.hideturtle()
# sammy.speed("fastest")
# Draw squadron NN patch (your code goes here)
#get turtle in position for first side of triangle
sammy.up()
sammy.left(90)
sammy.forward(50)
sammy.right(90)
#draw first side of triangle
sammy.down()
sammy.forward(75)
sammy.backward(150)
#draw second side of triangle
sammy.left(300)
sammy.forward(150)
#draw final side of triangle
sammy.left(120)
sammy.forward(150)
class MainApplication(tk.Frame):
def __init__(self, parent, *args, **kwargs):
tk.Frame.__init__(self, parent, *args, **kwargs)
self.parent = parent
self.filepath = os.path.join(os.path.expanduser("~"), "kod.nxc")
self.power_var = tk.IntVar()
self.forward_wait_var = tk.IntVar()
self.degrees_var = tk.IntVar()
self.wait_wait_var = tk.IntVar()
self.power_var.set(50)
self.forward_wait_var.set(1000)
self.degrees_var.set(90)
self.wait_wait_var.set(1000)
self.create_widgets()
self.connect_widgets()
def create_widgets(self):
tk.Label(self.parent, text="Robot Driver Inc.",
font=('Arial', 25)).grid(row=0, column=0, columnspan=6)
self.forward_btn = tk.Button(self.parent, text="Jazda do przodu")
self.rotate_btn = tk.Button(self.parent, text="Obrót")
self.wait_btn = tk.Button(self.parent, text="Czekaj")
self.undo_btn = tk.Button(self.parent, text="Cofnij")
self.generate_btn = tk.Button(self.parent, text="Generuj kod")
self.canvas = tk.Canvas(self.parent, width=640, height=480)
self.draw = RawTurtle(self.canvas)
self.forward_btn.grid(row=1, column=0, sticky=tk.E + tk.W)
self.rotate_btn.grid(row=2, column=0, sticky=tk.E + tk.W)
self.wait_btn.grid(row=3, column=0, sticky=tk.E + tk.W)
self.undo_btn.grid(row=4, column=0, sticky=tk.E + tk.W)
self.generate_btn.grid(row=5, column=0, sticky=tk.E + tk.W)
self.canvas.grid(row=6, column=0, columnspan=6)
tk.Label(self.parent, text="Moc:").grid(row=1, column=1)
self.power_input = tk.Entry(self.parent, textvariable=self.power_var)
tk.Label(self.parent, text="Czas:").grid(row=1, column=3)
self.forward_wait_input = tk.Entry(self.parent,
textvariable=self.forward_wait_var)
tk.Label(self.parent, text="Stopnie:").grid(row=2, column=1)
self.rotate_input = tk.Entry(self.parent,
textvariable=self.degrees_var)
tk.Label(self.parent, text="Czas:").grid(row=3, column=1)
self.wait_wait_input = tk.Entry(self.parent,
textvariable=self.wait_wait_var)
tk.Label(self.parent, text="Ścieżka:").grid(row=4, column=1, rowspan=2)
self.filepath_label = tk.Label(self.parent,
text=self.filepath,
wraplength=150,
justify='center')
self.filepath_btn = tk.Button(self.parent, text="Wybierz")
self.power_input.grid(row=1, column=2)
self.forward_wait_input.grid(row=1, column=4)
self.rotate_input.grid(row=2, column=2)
self.wait_wait_input.grid(row=3, column=2)
self.filepath_label.grid(row=4, column=2, rowspan=2)
self.filepath_btn.grid(row=5,
column=3,
columnspan=2,
sticky=tk.E + tk.W)
def connect_widgets(self):
self.forward_btn.bind('<Button-1>',
lambda x: self.on_forward_btn_pressed())
self.rotate_btn.bind('<Button-1>',
lambda x: self.on_rotate_btn_pressed())
self.wait_btn.bind('<Button-1>', lambda x: self.on_wait_btn_pressed())
self.generate_btn.bind('<Button-1>',
lambda x: self.on_generate_btn_pressed())
self.undo_btn.bind('<Button-1>', lambda x: self.on_undo_btn_pressed())
self.filepath_btn.bind('<Button-1>',
lambda x: self.on_filepath_btn_pressed())
def on_forward_btn_pressed(self):
self.draw.forward(10)
def on_rotate_btn_pressed(self):
self.draw.right(45)
def on_wait_btn_pressed(self):
print("Wait:", self.wait_wait_var.get())
def on_generate_btn_pressed(self):
print(self.filepath)
def on_undo_btn_pressed(self):
print("Undo")
def on_filepath_btn_pressed(self):
self.filepath = asksaveasfilename(initialdir=os.path.expanduser("~"),
filetypes=(("NXC File", "*.nxc"),
("TXT File", "*.txt")))
self.filepath_label['text'] = self.filepath
# tess.right(90)
# tess.left(3600)
# tess.right(-90)
# tess.left(3600)
# tess.left(3645)
# tess.forward(-100)
#----------------------------------------------------------------------
# Challenge Problems 1
# Implement a loop within a loop that draws the pattern shown in the Lab05
# description. It is created by drawing a set of square where each square
# is orientated 30 degrees from the previous square.
#----------------------------------------------------------------------
for i in range(4):
mary.forward(25)
mary.left(90)
mary.forward(50)
mary.left(90)
mary.forward(25)
mary.left(90)
mary.forward(25)
mary.left(90)
mary.forward(50)
for j in range(4):
mary.forward(50)
mary.left(90)
mary.up()
mary.setpos(0, 0)
class Vehicle:
###############################################################################################################
def __init__(self, turtle_window, id_number):
self.speed_params = [20, 0.2, 6]
self.turn_parameters = [20]
self.turtle_window = turtle_window
self.max_location = self.turtle_window.screen_size / 2 - 10
self.vehicle = RawTurtle(self.turtle_window.wn)
self.vehicle.hideturtle()
self.id_number = id_number
self.type = random.choice(["crossed", "direct"])
self.vehicle.shape('turtle')
self.vehicle.turtlesize(1)
self.vehicle.penup()
if self.type == 'crossed':
self.vehicle.color("red", (1, 0.85, 0.85))
else:
self.vehicle.color("blue", (0.85, 0.85, 1))
self.place()
self.vehicle.showturtle()
def place(self):
self.vehicle.goto(
random.randint(-self.max_location, self.max_location),
random.randint(-self.max_location, self.max_location))
self.vehicle.right(random.randint(0, 360))
###############################################################################################################
def move(self):
cumulative_speed = 0
cumulative_turn_amount = 0
for heat_source in self.turtle_window.heat_source_list:
input_distance = self.vehicle.distance(
heat_source.heat_source.pos())
input_angle = self.vehicle.heading() - self.vehicle.towards(
heat_source.heat_source.pos())
sin_angle = math.sin(math.radians(input_angle))
left_sensor_distance = input_distance - sin_angle
right_sensor_distance = input_distance + sin_angle
left_speed, right_speed, combined_speed = self.compute_speed(
left_sensor_distance, right_sensor_distance)
turn_amount = self.turn_parameters[0] * (right_speed - left_speed)
cumulative_speed += combined_speed
cumulative_turn_amount += turn_amount
if isinstance(cumulative_turn_amount, complex):
cumulative_turn_amount = 0
if cumulative_speed < 0:
cumulative_speed = 0
self.vehicle.right(cumulative_turn_amount)
self.vehicle.forward(cumulative_speed)
self.check_border_collision()
def check_border_collision(self):
if self.vehicle.xcor() > self.max_location:
self.vehicle.goto(self.max_location, self.vehicle.ycor())
if self.vehicle.xcor() < -self.max_location:
self.vehicle.goto(-self.max_location, self.vehicle.ycor())
if self.vehicle.ycor() > self.max_location:
self.vehicle.goto(self.vehicle.xcor(), self.max_location)
if self.vehicle.ycor() < -self.max_location:
self.vehicle.goto(self.vehicle.xcor(), -self.max_location)
if self.vehicle.ycor() <= -self.max_location:
if 0 <= self.vehicle.heading() <= 180:
turn_angle = 180 - self.vehicle.heading()
self.vehicle.setheading(turn_angle)
else:
turn_angle = abs(360 - self.vehicle.heading())
self.vehicle.setheading(turn_angle)
if self.vehicle.ycor() >= self.max_location:
if 0 <= self.vehicle.heading() <= 180:
turn_angle = 360 - self.vehicle.heading()
self.vehicle.setheading(turn_angle)
else:
turn_angle = 360 - (self.vehicle.heading() - 180)
self.vehicle.setheading(turn_angle)
if self.vehicle.xcor() <= -self.max_location:
if 0 <= self.vehicle.heading() <= 90:
turn_angle = 360 - self.vehicle.heading()
self.vehicle.setheading(turn_angle)
if 270 < self.vehicle.heading() <= 360:
turn_angle = 360 - self.vehicle.heading()
self.vehicle.setheading(turn_angle)
if 90 < self.vehicle.heading() < 180:
turn_angle = self.vehicle.heading() - 90
self.vehicle.setheading(turn_angle)
if 180 <= self.vehicle.heading() <= 360:
turn_angle = self.vehicle.heading() + 90
self.vehicle.setheading(turn_angle)
if self.vehicle.xcor() >= self.max_location:
if 0 <= self.vehicle.heading() <= 180:
turn_angle = self.vehicle.heading() + 90
self.vehicle.setheading(turn_angle)
else:
turn_angle = self.vehicle.heading() - 90
self.vehicle.setheading(turn_angle)
###############################################################################################################
def compute_speed(self, left_distance, right_distance):
if self.type == 'crossed':
left_speed = (
self.speed_params[0] /
(right_distance**self.speed_params[1])) - self.speed_params[2]
right_speed = (
self.speed_params[0] /
(left_distance**self.speed_params[1])) - self.speed_params[2]
else:
left_speed = (
self.speed_params[0] /
(left_distance**self.speed_params[1])) - self.speed_params[2]
right_speed = (
self.speed_params[0] /
(right_distance**self.speed_params[1])) - self.speed_params[2]
combined_speed = (left_speed + right_speed) / 2
return left_speed, right_speed, combined_speed
class Robot:
def __init__(self, scene, robot_id):
#sets variables
self.robot_id = robot_id
self.turtle = RawTurtle(scene.canvas)
self.scene = scene
self.scr = self.turtle.getscreen()
self.scr.setworldcoordinates(0, scene.height, scene.width, 0)
self.turtle.penup()
if robot_id == 1:
self.turtle.color("blue")
else:
self.turtle.color("red")
#create turtles sprite
## self.turtle.register_shape("ship",((-7,-2),(-6,-1),(-3,0),(-3,1),(-2,5),
## (0,7),(2,5),(3,1),(3,0),(6,-1),(7,-2),
## (3,-1),(3,-2),(2,-7),(-2,-7),(-3,-2),
## (-3,-1),(-2,-1),(-2,-2),(-1,-6),(1,-6),
## (2,-2),(2,-1),(-2,-1),(-2,0),(2,0),
## (2,1),(1,4),(0,5),(-1,4),(-2,1),
## (-2,-1),(-3,-1))
## )
## self.turtle.shape("ship")
## self.turtle.shapesize(2,2)
#place robot using reset
self.reset()
def reset(self):
#set start positions for robots
positions = [((15,15), 45),
((self.scene.width-15, 15), 135),
((15, self.scene.height-15), 315),
((self.scene.height-15, self.scene.width-15), 135)]
#move robot to starting possition
self.turtle.speed(0)
self.turtle.setpos(positions[self.robot_id][0])
#print positions[self.robot_id]
self.turtle.left(positions[self.robot_id][1])
self.turtle.forward(20)
self.turtle.speed(0)
self.turtle.screen.bgcolor("sky blue")
def orientate(self, landmarks, canvas, goal):
##sd = shortest distance
##x1,x2,y1,y2 = circles corners
##lx,ly = length x/y
##h = hypothinus
##ln = landmark number
sd = 40000000
ln = 0
for ID in landmarks:
if canvas.itemcget(ID, "fill") == "dark green":
ln+=1
x1,y1,x2,y2 = canvas.coords(ID)
lx = ((x1+x2)/2) - self.turtle.xcor()
ly = ((y1+y2)/2) - self.turtle.ycor()
h = math.sqrt(lx*lx + ly*ly)
if h < sd:
sd = h
stored_ID = ID
stored_x = lx
stored_y = ly
if ln == 0:
stored_ID = goal
x1,y1,x2,y2 = canvas.coords(goal)
lx = ((x1+x2)/2) - self.turtle.xcor()
ly = ((y1+y2)/2) - self.turtle.ycor()
sd = math.sqrt(lx*lx + ly*ly)
stored_x = ((x1+x2)/2) - self.turtle.xcor()
stored_y = ((y1+y2)/2) - self.turtle.ycor()
if sd < 37:
return stored_ID
if stored_x < 0:
if stored_y < 0:
new_heading = 180 + math.degrees(math.atan((-stored_y)/(-stored_x)))
else:
new_heading = 180 - math.degrees(math.atan(stored_y/(-stored_x)))
elif stored_y < 0:
new_heading = 360 - math.degrees(math.atan((-stored_y)/stored_x))
else:
new_heading = math.degrees(math.atan(stored_y/stored_x))
self.turtle.seth(new_heading)
return False
def collisions_move(self, speed, depth):
##breaks the recursion if the robots get to close
if depth > 10:
return
##sets variables for checking collision
turtle_x = self.turtle.xcor()
turtle_y = self.turtle.ycor()
t_heading = self.turtle.heading()
##variables used to check right
xr = turtle_x + 15*math.cos(math.radians(self.turtle.heading()+30))
yr = turtle_y + 15*math.sin(math.radians(self.turtle.heading()+30))
##variables used to check left
xl = turtle_x + 15*math.cos(math.radians(self.turtle.heading()-30))
yl = turtle_y + 15*math.sin(math.radians(self.turtle.heading()-30))
##check for the collision
left = self.scene.canvas.find_overlapping(xl-1,yl-1,xl+1,yl+1)
right = self.scene.canvas.find_overlapping(xr-1,yr-1,xr+1,yr+1)
if left:
##turn away
self.turtle.left(20)
self.collisions_move(speed, depth+1)
#self.turtle.forward(speed/5)
elif right:
##turn away
self.turtle.right(20)
self.collisions_move(speed, depth+1)
#self.turtle.forward(speed/5)
else:
##else move forward
self.turtle.forward(speed)
return
from guizero import App, Drawing from turtle import RawTurtle app = App() drawing = Drawing(app) turtle = RawTurtle(drawing.tk) turtle.forward(100) turtle.left(720) app.display()
class Robot:
def __init__(self, scene, robot_id):
self.robot_id = robot_id
self.done = False
self.signal = None
self.turtle = RawTurtle(scene.canvas)
self.scene = scene
self.scr = self.turtle.getscreen()
self.scr.setworldcoordinates(0, scene.height, scene.width, 0)
self.turtle.penup()
self.reset()
def reset(self):
positions = [((15,15), 45),
((self.scene.width-15, 15), 135),
((15, self.scene.height-15), 315),
((self.scene.height-15, self.scene.width-15), 135)]
self.turtle.speed(0)
self.turtle.setpos(positions[self.robot_id][0])
print positions[self.robot_id]
self.turtle.left(positions[self.robot_id][1])
self.turtle.forward(20)
self.turtle.speed("normal")
def process(self):
##sets variables for checking collision
turtle_x = self.turtle.xcor()
turtle_y = self.turtle.ycor()
t_heading = self.turtle.heading()
##variables used to check right
xr = turtle_x + 15*math.cos(math.radians(self.turtle.heading()+30))
yr = turtle_y + 15*math.sin(math.radians(self.turtle.heading()+30))
##variables used to check left
xl = turtle_x + 15*math.cos(math.radians(self.turtle.heading()-30))
yl = turtle_y + 15*math.sin(math.radians(self.turtle.heading()-30))
##turns the robot at window boundries
st_orient = [0, 90, 180, 270]
bounce_d = 20
if turtle_x - bounce_d < 0:
self.turtle.setheading(180-t_heading)
if turtle_x + bounce_d > self.scene.width:
self.turtle.setheading(180-t_heading)
if turtle_y - bounce_d < 0:
self.turtle.setheading(360-t_heading)
if turtle_y + bounce_d > self.scene.height:
self.turtle.setheading(360-t_heading)
##check collisions
left = self.scene.canvas.find_overlapping(xl-1,yl-1,xl+1,yl+1)
right = self.scene.canvas.find_overlapping(xr-1,yr-1,xr+1,yr+1)
if self.goal_id in left + right:
self.done = True
elif left:
##turn away
self.turtle.left(10)
elif right:
##turn away
self.turtle.right(10)
else:
##else move forward
self.turtle.forward(5)
##if goal not reached:
if self.signal:
if self.signal == "STOP":
self.signal = None
return
elif not self.done:
self.scene.master.after(20, self.process)
pen1.width(3)
# Configuring the second pen
pen2.color("violet", "misty rose")
pen2.width(3)
# Drawing the figure
pen1.begin_fill()
pen2.begin_fill()
pen1.goto(0, 100)
pen2.goto(0, 100)
pen1.goto(0, -50)
pen2.goto(0, -50)
pen2.left(40)
pen1.left(140)
pen2.forward(100)
pen1.forward(100)
for side in range(185):
pen2.forward(1)
pen1.forward(1)
pen2.left(1)
pen1.right(1)
# Filling the figure
pen2.end_fill()
pen1.end_fill()
# Deleting the arrows of the pens when the figure is finished
pen2.hideturtle()
pen1.hideturtle()
