def display(self):
"""
B _________ A wheels : four small rectangles w on the sides of the rectangle
| | coordinates : w1x, w1y, w2x, w2y, ...
| O |
|_________|
C D
"""
coords_body = rectangle_vertices(self.x, self.y, width=self.width, length=self.length, angle=self.heading)
w1x, w1y = rotate(self.x + self.length/4, self.y - self.width/2, self.heading, self.x, self.y) # front left
w2x, w2y = rotate(self.x - self.length/3.1, self.y - self.width/2, self.heading, self.x, self.y) # back left
w3x, w3y = rotate(self.x + self.length/4, self.y + self.width/2, self.heading, self.x, self.y) # front right
w4x, w4y = rotate(self.x - self.length/3.1, self.y + self.width/2, self.heading, self.x, self.y) # back right
fwar = self.turning * 10 # front wheels additional rotation (if car is turning)
coords_wheel_1 = rectangle_vertices(w1x, w1y, width=self.width/4, length=self.length/4, angle=self.heading+fwar)
coords_wheel_2 = rectangle_vertices(w2x, w2y, width=self.width/4, length=self.length/4, angle=self.heading)
coords_wheel_3 = rectangle_vertices(w3x, w3y, width=self.width/4, length=self.length/4, angle=self.heading+fwar)
coords_wheel_4 = rectangle_vertices(w4x, w4y, width=self.width/4, length=self.length/4, angle=self.heading)
world.create_polygon(coords_body, fill=self.color, outline='black', width=2, tag=self.name)
world.create_polygon(coords_wheel_1, fill='black', tag=self.name + "_wfl")
world.create_polygon(coords_wheel_2, fill='black', tag=self.name + "_wbl")
world.create_polygon(coords_wheel_3, fill='black', tag=self.name + "_wfr")
world.create_polygon(coords_wheel_4, fill='black', tag=self.name + "_wbr")
world.pack()
def move_current_player(self, n_player):
current = self.players[n_player]
prev_pos = current.x, current.y
start = time.time()
current.update_position()
end = time.time()
duration = end - start
data[n_player + 1]['Total'] += duration
data[n_player + 1]['Counter'] += 1
new_pos = current.x, current.y
board_center = self.board.m // 2, self.board.n // 2
rotations = 1
i = (n_player + 1) % self.n_players
while i != n_player:
p = self.players[i]
prev_pos_p = rotate(prev_pos[0], prev_pos[1], -rotations * 90,
board_center)
new_pos_p = rotate(new_pos[0], new_pos[1], -rotations * 90,
board_center)
p.update_view(prev_pos_p, new_pos_p)
i = (i + 1) % self.n_players
rotations = rotations + 1
def draw(self):
x, y = functions.convert(self.body.position)
if self.thrusting:
self.imageIndex += 0.5
self.screen.blit(self.sheetThrust[int(self.imageIndex % 4)],
(x - 100, y - 120))
functions.rotate(self.screen, self.armImg, (x - 4, y - 24),
(96, 96), -math.degrees(self.target.currAngle))
else:
self.imageIndex += 0.25
self.screen.blit(self.sheetIdle[int(self.imageIndex % 2)],
(x - 100, y - 120))
functions.rotate(self.screen, self.armImg, (x - 4, y - 24),
(96, 96), -math.degrees(self.target.currAngle))
self.screen.blit(self.shldrImg, (x - 100, y - 120))
def standard_hough_rotation(theta, drawing_image):
# rotation_angle = ((math.cos(theta) * 180) / math.pi) * -1
# rotation_angle = (90 - math.degrees(theta)) * -1
rotation_angle = (90 - math.degrees(theta)) * -1
rotated_image = functions.rotate(drawing_image, rotation_angle)
print "most common theta is: " + str(theta)
print "rotation angle is: " + str(rotation_angle)
functions.plot_images([image, drawing_image, rotated_image],
["input image", "Std. Hough", "Rotated"])
def re(self,text):
global img
global flag
if flag:
img=colour_effect.rotated(img,int(functions.rotate()))
img.save("trash.jpg")
self.show_picture('trash.jpg')
else:
mt=easygui.msgbox('You do not insert any file, please open a file and try again','Detail',' ok ')
def move(self, player):
if not self.moving:
# set the animation to motionless
self.imageIndex = 0
# watch the player
self.targetX = player.x
self.targetY = player.y
self.targetDirection = pointDirection(self.x, self.y, self.targetX, self.targetY)
# count down the wait timer
self.waitTimer -= 1
if self.waitTimer == 0:
# False is telling the spider NOT to get off the screen
self.decisionMaker(False, player.x, player.y)
else:
# update sprite as the spider moves
self.spriteCounter += 1
if self.spriteCounter > 2:
self.spriteCounter = 0
self.imageIndex = (self.imageIndex + 1) % len(self.spriteIndex)
# get the distance between the spider and the target point
testDistance = pointDistance(self.x, self.y, self.targetX, self.targetY)
# no need to do a for loop test until the spider is close enough to the target
if testDistance < self.spiderSpeed * 2:
tempX = self.add_x / testDistance
tempY = self.add_y / testDistance
# now do a pixel by pixel test and once close enough then stop. 3.5 is close enough to stop the spider
for f in range(int(testDistance)):
if math.fabs(self.x + tempX * f - self.targetX) < 3.5 and math.fabs(self.y + tempY * f - self.targetY) < 3:
self.add_x = tempX * f
self.add_y = tempY * f
self.moving = False
break
self.x += self.add_x
self.y += self.add_y
"""
# A FAIL SAFE CATCH FOR WHEN THE SPIDER WANDERS OFF THE SCREEN, BUT DOESN'T KNOW HE'S F*****G LOST
if math.fabs(self.x) > self.screenWidth * 3 or math.fabs(self.y) > self.screenHeight * 3:
self.moving = False"""
self.spriteEye = rotate(self.spriteEyeStart, self.targetDirection).convert_alpha()
self.spriteEyeCentre = matchCentre(self.spriteEyeStart, self.spriteEye)
eyeRect = self.spriteEye.get_rect()
self.spriteEyeSmall = pygame.transform.smoothscale(self.spriteEye,
(eyeRect.width / 2, eyeRect.height / 2)).convert_alpha()
# no convert_alpha() needed here. the self.mask is taken from another sprite in __init__
self.sprite = pygame.image.load(self.spriteIndex[self.imageIndex]).convert_alpha()
self.spriteArea = pygame.Rect(self.x, self.y, self.width, self.height)
def Homologation(ser,team): functions.set_speed(ser,0.2) functions.set_speed(ser,1) functions.open_bras(ser) functions.move_pos(ser,0.85,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.4,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*1.5708) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.4,team*0.45) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) while answer !='$END9;': functions.move_pos(ser,1.1,team*0.45) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.2,team*0.45) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser)
def closest_point(car, track, angle):
"""return the approximate coordinates of the closest point to the car along
the direction given by theta (relative to the car's heading)"""
x_inf, y_inf = car.x, car.y
if not is_out(track, car):
t = 100
x, y = rotate(car.x + t, car.y, car.heading + angle, car.x, car.y)
while not is_out(track, x=x, y=y):
t *= 2
x, y = rotate(car.x + t, car.y, car.heading + angle, car.x, car.y)
epsilon = 10
while epsilon > 5:
x_tmp, y_tmp = (x + x_inf) / 2, (y + y_inf) / 2
if not is_out(track, x=x_tmp, y=y_tmp):
x_inf, y_inf = x_tmp, y_tmp
else:
x, y = x_tmp, y_tmp
epsilon = distance(x, y, x_inf, y_inf)
else:
t = 5
x, y = rotate(car.x + t, car.y, car.heading + angle, car.x, car.y)
while is_out(track, x=x, y=y) and t < 300:
t += 25
x, y = rotate(car.x + t, car.y, car.heading + angle, car.x, car.y)
epsilon = 10
while epsilon > 5:
x_tmp, y_tmp = (x + x_inf) / 2, (y + y_inf) / 2
if is_out(track, x=x_tmp, y=y_tmp):
x_inf, y_inf = x_tmp, y_tmp
else:
x, y = x_tmp, y_tmp
epsilon = distance(x, y, x_inf, y_inf)
return x, y
def get_absolute_pos(self, relative_pos, n_player):
if n_player < 1 or n_player > 4:
raise ValueError(
'player number must be at least 1 and not greater than 4')
rotations = n_player - 1
board_center = self.m // 2, self.n // 2
x, y = rotate(relative_pos[0], relative_pos[1], 90 * rotations,
board_center)
return x, y
def prob_hough_rotation(image, drawing_image):
lines, drawn_image = prob_hough(image, drawing_image)
radians = dict()
for line in lines:
pt1, pt2 = line
x1, y1 = pt1
x2, y2 = pt2
radian = round(calculate_radians((x1, y1), (x2, y2)), 2)
if radian in radians.keys(): radians[radian] = radians[radian] + 1
else: radians[radian] = 1
freq_radian = max(radians, key=radians.get)
# rotation_angle = (90 - math.degrees(freq_radian)) * -1
rotation_angle = math.degrees(freq_radian)
print("Most frequent radians is: " + str(freq_radian) +
"Rotation angle is: " + str(rotation_angle))
rotated_image = functions.rotate(drawn_image.copy(), rotation_angle)
# functions.plot_images([image, drawn_image, rotated_image], ["Input image", "HoughLinesP", "Rotated"])
return rotated_image
def move(self, x, y, direction):
self.spriteCounter += 1
if self.spriteCounter > 6:
self.spriteCounter = 0
self.imageIndex = (self.imageIndex + 1) % 2
self.spriteStart = pygame.image.load(self.spriteIndex[self.imageIndex]).convert_alpha()
self.direction = direction
self.sprite = rotate(self.spriteStart, self.direction).convert_alpha()
self.spriteCentre = matchCentre(self.spriteStart, self.sprite)
self.mask = pygame.mask.from_surface(self.sprite)
self.x = x# - self.spriteCentre.width / 2
self.y = y# - self.spriteCentre.height / 2
# spriteArea will be used for collision testing
self.spriteArea = pygame.Rect(self.x, self.y, self.spriteCentre.width, self.spriteCentre.height)
def change_in_momentum(momentum_in, axis_of_rotation, two_theta):
"""Finds the change in momentum vector given momentum in, the axis of
functions and the two theta angle
Args:
momentum_in: The momentum vector of the incident beam. Units keV/c.
axis_of_rotion: The axis perpendicular to the difraction plane centred
on the sample.
two_theta: The two_theta angle of difraction. Angle must be passed in
degrees.
Returns:
change_in_momentum: The change in momentum vector.
"""
_quaternion = r.rotation_to_quaternion(axis_of_rotation, two_theta)
momentum_out = r.rotate(momentum_in, _quaternion)
return momentum_out - momentum_in
def move(self, playerX, playerY, mushrooms, createMushroom):
# do the watching eye
eyeDirection = pointDirection(self.x, self.y, playerX, playerY)
self.spriteEye = rotate(self.spriteEyeStart, eyeDirection).convert_alpha()
self.spriteEyeCentre = matchCentre(self.spriteEyeStart, self.spriteEye)
# just moves straight down the screen
self.y += 4
if self.y > self.OFF_SCREEN:
self.destroyed = True
self.spriteArea = pygame.Rect(self.x, self.y, self.width, self.height)
if (createMushroom and randint(0, 100) == 0 and placeEmpty(mushrooms, self.x, self.y)
and self.y < self.OFF_SCREEN - self.height):
self.soundPlop.play()
mushrooms.append(Mushroom(self.x, self.y))
# update the body sprite
self.spriteCounter += 1
if self.spriteCounter > 2:
self.spriteCounter = 0
self.imageIndex = (self.imageIndex + 1) % len(self.spriteIndex)
self.sprite = pygame.image.load(self.spriteIndex[self.imageIndex]).convert_alpha()
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_pos(ser,0,1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_pos(ser,0,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
k = k+1
functions.rotate(ser,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_pos(ser,0.5,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_pos(ser,0,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
ser.close()
def Prise_Coquillages_2(ser,team,configuration):
### LA CONFIGURATION 1 A UNE SEULE PRISE DE COQUILLAGES ###
if configuration==2: ### CONFIGURATION 2 ###
### RECALAGE AVANT DEPART
functions.rotate(ser,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,-0.1,0)
sleep(0.3)
functions.set_x(ser,0)
functions.set_t(ser,0)
### On va au fond du board
functions.move_push(ser,0.4,team*(-0.8),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.7,team*(-0.82),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,2.2,team*(-0.8),0.25)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
### On ramene tout sur le passage
functions.move_push(ser,1.6,team*(-0.7),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.6,team*(-0.68),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.2,team*(-0.6),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
### On fait le tour pour tout pousser dans la serviette de depart.
functions.move_push(ser,0.4,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.07,team*(-0.65),0.05)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.07,team*(0.1),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +12 points potentiels."
if configuration==3: ### CONFIGURATION 3 ###
functions.move_push(ser,0.5,team*(-0.5),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.5,team*(-1),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.15,team*(-0.7),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.12,team*(0.05),0.25)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +10 points potentiels."
elif configuration==4: ### CONFIGURATION 4 A MODIFIER ###
functions.move_push(ser,0.35,team*(-0.85),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.9,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.1,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.3,team*(-0.85),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,team*5)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,180)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.7,team*(-0.85),0)
functions.rotate(ser,team*10)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0,0,0.05)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +10 points potentiels."
def Prise_Poissons(ser,team): functions.move_push(ser,0.3,team*(-0.88),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### Placement en centre de bassin et deploiement des bras functions.move_push(ser,0.55,team*(-0.90),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.deploy_fish(ser) ### Rotation pour s'aligner avec la mer functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### Changement de vitesse max functions.set_speed(ser,0.2) ### Et 3 pas en avant !! functions.move_pos(ser,0.69,team*(-0.90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### Et 3 pas en arriere !! functions.move_pos(ser,0.47,team*(-0.90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### RANGEMENT DES BRAS POUR LES AMENER AU FILET functions.moveup_fish_av(ser) functions.moveup_fish_ar(ser) sleep(2) ### DEPLACEMENT VERS LE FILET functions.set_speed(ser,0.5) functions.move_push(ser,0.90,team*(-0.85),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,1.1,team*(-0.90),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### LACHEZ LES POISSON !! functions.rlz_fish(ser) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Avouons-le, la peche a la moule c est mieux... +40 points potentiels."
def draw(self):
functions.rotate(self.screen, self.parent.gunImg,
(self.baseX, self.baseY), (116 / 2, 192 / 2),
math.degrees(self.currAngle))
def move(self, SCREEN_WIDTH, SCREEN_HEIGHT, mushrooms, snakes):
oldDirection = self.snakeDirection
if self.turnTimer > 0:
self.turnTimer -= 1
if self.turnTimer == 0:
self.snakeDirection = self.snakeTimedTurn
#--------------------- DO HEAD SHAKE FIRST ---------------------
self.weaveAngle += self.weaving
if self.weaveAngle < -10 or self.weaveAngle > 10:
self.weaving = -self.weaving
#----------------------- UPDATE SPRITE -------------------------
self.spriteSnakeHead = rotate(self.spriteHeadStart, self.snakeDirection + self.weaveAngle).convert_alpha()
self.mask = pygame.mask.from_surface(self.spriteSnakeHead)
self.spriteCentre = moveCentre(self.spriteHeadStart, self.spriteSnakeHead, 3, self.snakeDirection + self.weaveAngle)
#-------------------- UPDATE NEW POSITION ---------------------
if self.snakeDirection == 0:
self.NEW_X += self.snakeSpeed
elif self.snakeDirection == 180:
self.NEW_X += -self.snakeSpeed
elif self.snakeDirection == 270:
self.NEW_Y += self.snakeSpeed
elif self.snakeDirection == 90:
self.NEW_Y += -self.snakeSpeed
if self.turnTimer == 0:
hitObject = False
testArea = pygame.Rect(self.NEW_X, self.NEW_Y, self.spriteCentre.width, self.spriteCentre.height)
for f in range(len(mushrooms)):
if testArea.colliderect(mushrooms[f].spriteArea):
hitObject = True
break
"""
if not hitObject:
tempSnakes = copy.deepcopy(snakes)
for f in range(len(snakes)):
if self.x == snakes[f].x and self.y == snakes[f].y:
tempSnakes = removeElement(tempSnakes, f)
break
for f in range(len(tempSnakes)):
if pygame.Rect(self.NEW_X, self.NEW_Y, self.spriteCentre.width, self.spriteCentre.height
).colliderect(tempSnakes[f].spriteArea):
hitObject = True
break
"""
if hitObject:
# this will have to do some complicated shit - or maybe not?
self.scanAhead(SCREEN_WIDTH, SCREEN_HEIGHT)
else:
# if not hit a mushroom then do a screen edge test
self.screenEdge(SCREEN_WIDTH, SCREEN_HEIGHT)
self.x = self.NEW_X
self.y = self.NEW_Y
# spriteArea will be used for collision testing
self.spriteArea = pygame.Rect(self.x, self.y, self.spriteCentre.width, self.spriteCentre.height)
# update array of positions
self.updatePositionList(self.x, self.y, oldDirection)
for f in range(len(self.body)):
self.body[f].move(self.positions[self.positionCount * (f + 1)][0],
self.positions[self.positionCount * (f + 1)][1],
self.positions[self.positionCount * (f + 1)][2])
category_ids = [18, 19]
# We will use the mapping from category_id to the class name
# to visualize the class label for the bounding box on the image
category_id_to_name = {18: 'dog', 19: 'horse'}
# 밝기
image_1 = F.brightness(image, 0.5, 3)
# 수직 접기
image_2 = F.vertical_flip(image)
# 일반 rotate 실행
image_3 = F.rotate2(image, 45)
# albumentation rotate 실행
image_4 = F.rotate(image,
45,
interpolation=cv2.INTER_LINEAR,
border_mode=cv2.BORDER_REFLECT_101,
value=None)
B.convert('coco', bboxes)
bboxes = B.normalize_bboxes(bboxes, rows, cols)
print(bboxes, 'bbox5')
bboxes2 = copy.deepcopy(bboxes)
bboxes3 = copy.deepcopy(bboxes)
bboxes4 = copy.deepcopy(bboxes)
image5 = F.crop(image, 100, 100, 400, 400)
rows, cols = image5.shape[:2]
for box in bboxes4:
box = F.bbox_crop(box, 100, 100, 400, 400, rows, cols)
box = tuple(np.clip(box, 0, 1.0))
# for box in bboxes2:
# box[:4] = F.bbox_flip(box, 0, rows, cols)
# ---------------------------------
with open(filename, 'w') as outfile:
outfile.write('# time %.2f (Myrs ago)\n' % (simulation_age))
outfile.write('#\n')
outfile.write(
'# X_now Y_now R_now phi_now X_start Y_start R_start phi_start pecu_vel_r pecu_vel_phi\n'
)
outfile.write(
'# kpc kpc kpc deg kpc kpc kpc deg km/s km/s\n'
)
outfile.write('#\n')
for X_start, Y_start, R_start, phi_start, pecu_vel_r, pecu_vel_phi in data:
# we simulate position of stars in the future by advancing their positions
# using rotation curve and pecular velocities of individual stars
distG, phi = rotate(simulation_age, R_start * 1000.0, phi_start,
pecu_vel_r, pecu_vel_phi)
# XY positions evolved to the current time are:
xG, yG = project(phi, distG)
for row in c_[xG * 0.001, yG * 0.001, distG * 0.001, phi, X_start,
Y_start, R_start, phi_start, pecu_vel_r, pecu_vel_phi]:
outfile.write(
'%9.4f %9.4f %9.4f %9.4f %9.4f %9.4f %9.4f %9.4f %9.2f %9.2f\n'
% tuple(row))
if __name__ == '__main__':
pass
answer = functions.get_ans(ser)
# Demande de l'équipe
team = functions.ask_team(ser)
# Déplacement
functions.move_pos(ser, 0.1, 0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
if (functions.Sicks == 0):
functions.move_pos(ser, 0.1, 0)
answer = functions.get_ans(ser)
# Rotation
if team == 'g':
functions.rotate(ser, 0.785)
else:
functions.rotate(ser, 5.495)
answer = functions.get_ans(ser)
while answer != "$DONE;":
if team == 'g':
functions.rotate(ser, 0.785)
else:
functions.rotate(ser, 5.495)
answer = functions.get_ans(ser)
# Déplacement
if team == 'g':
functions.move_pos(ser, 0.60, 0.60)
else:
functions.move_pos(ser, 0.60, -0.60)
def draw(self):
functions.rotate(self.screen, self.texture, functions.convert(self.body.position), (9, self.height//2), math.degrees(self.body.angle))
def Prise_Colonne_De_Sable(ser,team,x,y): functions.move_pos(ser,x,team*y) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'0') functions.rotate(ser,team*(-90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_pumps(ser) functions.move_speed(ser,-0.2,0) sleep(1) functions.set_speed(ser,0.2) functions.set_speed(ser,1.5) sleep(0.05) functions.enable_US(ser,'9') functions.move_pos(ser,x,team*y-0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.deploy_wings(ser) sleep(1) functions.move_push(ser,0.15,team*(0),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.60,team*(-0.16),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### On s enfonce dans la zone de construction. functions.enable_US(ser,'0') functions.move_push(ser,x-0.3,team*(y-0.75)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.disable_pumps(ser) functions.close_wings(ser) sleep(0.5) functions.set_speed(ser,0) functions.set_speed(ser,3) sleep(0.05) functions.move_push(ser,0.3,team*(0.2),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'F') print "Et une colonne de plus ! Une !"
import functions
k = int(input("Enter number of times to rotate"))
lis = list(map(int, input().split()))
print(functions.rotate(k, lis))
def Script_Recalage (ser,team):
functions.enable_sicks(ser,'0')
functions.set_speed(ser,0.4)
functions.move_speed(ser,-0.2,0)
sleep(0.5)
functions.set_x(ser,0.25)
functions.set_y(ser,team*(-0.94))
functions.set_t(ser,team*(90))
functions.move_pos(ser,0.25,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_pos(ser,0,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,-0.2,0)
sleep(0.5)
functions.set_x(ser,0)
functions.set_y(ser,0)
functions.move_pos(ser,0,0)
def Prise_Grand_Tas_De_Sable(ser,team,configuration): ### Rotation vers les blocs de sable functions.move_push(ser,0.83,team*0.5,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) ### Avancee vers les blocs de sable functions.rotate(ser,team*90) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.83,team*0.68) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*90) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### CALAGE SUR LES BLOCS functions.move_speed(ser,0.1,0) sleep(0.5) functions.set_y(ser,team*0.7) sleep(0.01) functions.move_pos(ser,0.83,team*0.7) ### PRISE DES BLOCS functions.catch(ser) sleep(1.2) functions.set_acc(ser,0.4,12,0.9) functions.set_speed(ser,0.2) functions.set_speed_ang(ser,1) ### Recul functions.move_push(ser,0.83,team*0.50,0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### CHEMIN VERS LES ZONE DE CONSTRUCTION functions.move_push(ser,0.35,team*(0.1),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*(-45)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.60,team*(-0.16),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,1.05,team*(-0.4),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### LACHER DU SABLE functions.rotate(ser,team*50) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) sleep(1) ### CONTRAINTES DE VITESSE PAR DEFAUT functions.set_speed(ser,0) functions.set_speed_ang(ser,4) if configuration<4: functions.move_push(ser,0.72,team*(-0.8),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.close_bras(ser) functions.move_push(ser,0.72,team*(-0.8),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) elif (configuration==4) or (configuration==5): functions.move_push(ser,0.7,team*(-0.65),0.16) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.close_bras(ser) functions.move_push(ser,0.1,team*(-0.6),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Et un tas de sable en plus! Un ! +24 points potentiels."
def draw(self):
functions.rotate(self.screen, self.bodyImg,
functions.convert(self.body.position),
(132 / 2, 192 / 2), math.degrees(self.body.angle))
self.barrel.draw()
