Ejemplo n.º 1
0
def spring():
    at_tree_odo = None
    tree_pose = None
    followers = 0
    have_seen_leader = False
    beh.init(0.22, 40, 0.5, 0.1)
    motion.init_rv(1000, MOTION_RV, MOTION_CAPTURE_DISTANCE,
                   MOTION_RELEASE_DISTANCE, MOTION_CAPTURE_ANGLE,
                   MOTION_RELEASE_ANGLE)
    state = STATE_IDLE

    while True:
        # run the system updates
        new_nbrs = beh.update()
        nbr_list = neighbors.get_neighbors()
        if new_nbrs:
            print state

        beh_out = beh.BEH_INACTIVE

        # set colors, because why not do it at the top
        color_counts = [0, 0, 0]
        for i in range(3):
            color_counts[i] = min([5, (state - 5 * i)])
        if state == STATE_IDLE:
            leds.set_pattern('rb', 'group', LED_BRIGHTNESS)
        elif state == STATE_SUCCESS:
            leds.set_pattern('g', 'circle', LED_BRIGHTNESS)
        else:
            leds.set_pattern(color_counts, 'count', LED_BRIGHTNESS)

        if rone.button_get_value('g'):
            tree_pose = None
            followers = 0
            have_seen_leader = False
            state = STATE_IDLE

        # this is the main finite-state machine
        if not state in [
                STATE_IDLE, STATE_LEADER, STATE_SUCCESS, STATE_FOLLOW
        ]:
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state in [STATE_LEADER, STATE_SUCCESS]:
                    start_time = sys.time()
                    state = STATE_FOLLOW

        if state == STATE_IDLE:

            if rone.button_get_value('r'):
                pose.set_pose(0, 0, 0)
                state = STATE_WANDER
            elif rone.button_get_value('b'):
                state = STATE_QUEEN

        elif state == STATE_QUEEN:
            pass

        elif state == STATE_WANDER:
            ##            leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
            nav = hba.find_nav_tower_nbr(NAV_ID)
            beh_out = beh.avoid_nbr(nav, MOTION_TV)
            queen = None
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_QUEEN:
                    queen = nbr

            if bump_front():
                if queen != None:
                    state = STATE_SUCCESS
                else:
                    tree_pose = pose.get_pose()
                    motion.set_goal((0.0, 0.0), MOTION_TV)
                    at_tree_odo = pose.get_odometer()
                    state = STATE_RETURN
            elif nav == None:
                motion.set_goal((0.0, 0.0), MOTION_TV)
                state = STATE_RETURN

        elif state == STATE_RETURN:
            ##            nav_tower = hba.find_nav_tower_nbr(NAV_ID)
            queen = None
            recruiter = None
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_QUEEN:
                    queen = nbr
                elif nbr_state == STATE_RECRUIT:
                    recruiter = nbr
            if queen != None:
                if (recruiter == None) and (tree_pose != None) and \
                close_to_nbr(queen):
                    start_time = sys.time()
                    dist_traveled = pose.get_odometer() - at_tree_odo
                    at_queen_odo = pose.get_odometer()
                    state = STATE_RECRUIT
                elif not closer_to_nbr(queen):
                    beh_out = beh.follow_nbr(queen, MOTION_TV)
                else:
                    start_time = sys.time()
                    state = STATE_FOLLOW
            else:
                (tv, rv) = motion.update()
                beh_out = beh.tvrv(tv, rv)

        elif state == STATE_RECRUIT:
            new_followers = 0
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_RECRUIT:
                    if neighbors.get_nbr_id(nbr) > rone.get_id():
                        state = STATE_FOLLOW
                elif nbr_state in [STATE_FOLLOW, STATE_QUEEN]:
                    new_followers += 1
            if new_followers > followers:
                print 'reset timer'
                start_time = sys.time()
            followers = max([followers, new_followers])
            if followers == 4 or sys.time() > start_time + WAIT_TIME:
                tree_pos = (tree_pose[0], tree_pose[1])
                motion.set_goal(tree_pos, MOTION_TV)
                state = STATE_LEADER

        elif state == STATE_FOLLOW:
            recruiter = None
            leader = None
            success = False
            new_followers = 1
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_RECRUIT:
                    recruiter = nbr
                elif nbr_state == STATE_LEADER:
                    leader = nbr
                elif nbr_state == STATE_SUCCESS:
                    leader = nbr
                    success = True
                elif nbr_state in [STATE_FOLLOW, STATE_WANDER]:
                    new_followers += 1
            if success:
                have_seen_leader = True
            if new_followers > followers:
                start_time = sys.time()
            followers = max([followers, new_followers])

            if recruiter == None:
                if leader == None:
                    if have_seen_leader:
                        beh_out = beh.tvrv(MOTION_TV, 0)
                    elif followers == 5 or sys.time() > start_time + WAIT_TIME:
                        followers = 0
                        state = STATE_WANDER
                else:
                    if success and bump() and close_to_nbr(leader):
                        state = STATE_SUCCESS
                    beh_out = beh.follow_nbr(leader, MOTION_TV)

        elif state == STATE_LEADER:
            ##            (tv, rv) = motion.update()
            ##            beh_out = beh.tvrv(tv, rv)
            ##            if motion.is_done():
            ##                state = STATE_SUCCESS
            beh_out = beh.tvrv(-MOTION_TV, 0)

            if bump() or (pose.get_odometer() - at_queen_odo) > dist_traveled:
                state = STATE_SUCCESS

        elif state == STATE_SUCCESS:
            pass

        # end of the FSM

        if state not in [
                STATE_IDLE, STATE_RECRUIT, STATE_LEADER, STATE_SUCCESS,
                STATE_QUEEN
        ]:
            bump_beh_out = beh.bump_beh(MOTION_TV)
            beh_out = beh.subsume([beh_out, bump_beh_out])

        # set the beh velocities
        beh.motion_set(beh_out)

        #set the HBA message
        msg = [0, 0, 0]
        msg[MSG_IDX_STATE] = state
        hba.set_msg(msg[0], msg[1], msg[2])
Ejemplo n.º 2
0
Archivo: fall.py Proyecto: va17/THBCP
 def align_with(target):
     target_theta = target
     pose.set_pose(0, 0, 0)
     state = STATE_ALIGN
     start_time = sys.time()
Ejemplo n.º 3
0
 def align_with(target):
     target_theta = target
     pose.set_pose(0,0,0)
     state = STATE_ALIGN
     start_time = sys.time()
Ejemplo n.º 4
0
def spring():
    at_tree_odo = None
    tree_pose = None
    followers = 0
    have_seen_leader = False
    beh.init(0.22, 40, 0.5, 0.1)
    motion.init_rv(1000, MOTION_RV, MOTION_CAPTURE_DISTANCE, MOTION_RELEASE_DISTANCE
            , MOTION_CAPTURE_ANGLE, MOTION_RELEASE_ANGLE)
    state = STATE_IDLE

    while True:
        # run the system updates
        new_nbrs = beh.update()
        nbr_list = neighbors.get_neighbors()
        if new_nbrs:
            print state
            
        beh_out = beh.BEH_INACTIVE

        # set colors, because why not do it at the top
        color_counts = [0, 0, 0]
        for i in range(3):
            color_counts[i] = min([5, (state - 5 * i)])
        if state == STATE_IDLE:
            leds.set_pattern('rb', 'group', LED_BRIGHTNESS)
        elif state == STATE_SUCCESS:
            leds.set_pattern('g', 'circle', LED_BRIGHTNESS)
        else:
            leds.set_pattern(color_counts, 'count', LED_BRIGHTNESS)

        if rone.button_get_value('g'):
            tree_pose = None
            followers = 0
            have_seen_leader = False
            state = STATE_IDLE
            
        # this is the main finite-state machine
        if not state in [STATE_IDLE, STATE_LEADER, STATE_SUCCESS, STATE_FOLLOW]:
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state in [STATE_LEADER, STATE_SUCCESS]:
                    start_time = sys.time()
                    state = STATE_FOLLOW
                    
        if state == STATE_IDLE:

            if rone.button_get_value('r'):
                pose.set_pose(0, 0, 0)
                state = STATE_WANDER
            elif rone.button_get_value('b'):
                state = STATE_QUEEN

        elif state == STATE_QUEEN:
            pass

        elif state == STATE_WANDER:
            ##            leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
            nav = hba.find_nav_tower_nbr(NAV_ID)
            beh_out = beh.avoid_nbr(nav, MOTION_TV)
            queen = None
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_QUEEN:
                    queen = nbr

            if bump_front():
                if queen != None:
                    state = STATE_SUCCESS
                else:
                    tree_pose = pose.get_pose()
                    motion.set_goal((0.0, 0.0), MOTION_TV)
                    at_tree_odo = pose.get_odometer()
                    state = STATE_RETURN
            elif nav == None:
                motion.set_goal((0.0, 0.0), MOTION_TV)
                state = STATE_RETURN

        elif state == STATE_RETURN:
            ##            nav_tower = hba.find_nav_tower_nbr(NAV_ID)
            queen = None
            recruiter = None
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr, new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_QUEEN:
                    queen = nbr
                elif nbr_state == STATE_RECRUIT:
                    recruiter = nbr
            if queen != None:
                if (recruiter == None) and (tree_pose != None) and \
                close_to_nbr(queen):
                    start_time = sys.time()
                    dist_traveled = pose.get_odometer() - at_tree_odo
                    at_queen_odo = pose.get_odometer()
                    state = STATE_RECRUIT
                elif not closer_to_nbr(queen):
                    beh_out = beh.follow_nbr(queen, MOTION_TV)
                else:
                    start_time = sys.time()
                    state = STATE_FOLLOW
            else:
                (tv, rv) = motion.update()
                beh_out = beh.tvrv(tv, rv)

        elif state == STATE_RECRUIT:
            new_followers = 0
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr,new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_RECRUIT:
                    if neighbors.get_nbr_id(nbr) > rone.get_id():
                        state = STATE_FOLLOW
                elif nbr_state in [STATE_FOLLOW, STATE_QUEEN]:
                    new_followers += 1
            if new_followers > followers:
                print 'reset timer'
                start_time = sys.time()
            followers = max([followers, new_followers])
            if followers == 4 or sys.time() > start_time + WAIT_TIME:
                tree_pos = (tree_pose[0], tree_pose[1])
                motion.set_goal(tree_pos, MOTION_TV)
                state = STATE_LEADER

        elif state == STATE_FOLLOW: 
            recruiter = None
            leader = None
            success = False
            new_followers = 1
            for nbr in nbr_list:
                nbr_state = hba.get_msg_from_nbr(nbr,new_nbrs)[MSG_IDX_STATE]
                if nbr_state == STATE_RECRUIT:
                    recruiter = nbr
                elif nbr_state == STATE_LEADER:
                    leader = nbr
                elif nbr_state == STATE_SUCCESS:
                    leader = nbr
                    success = True
                elif nbr_state in [STATE_FOLLOW, STATE_WANDER]:
                    new_followers += 1
            if success:
                have_seen_leader = True
            if new_followers > followers:
                start_time = sys.time()
            followers = max([followers, new_followers])

            if recruiter == None:
                if leader == None:
                    if have_seen_leader:
                        beh_out = beh.tvrv(MOTION_TV, 0)
                    elif followers == 5 or sys.time() > start_time + WAIT_TIME:
                        followers = 0
                        state = STATE_WANDER
                else:
                    if success and bump() and close_to_nbr(leader):
                        state = STATE_SUCCESS
                    beh_out = beh.follow_nbr(leader, MOTION_TV)
            
        elif state == STATE_LEADER:
##            (tv, rv) = motion.update()
##            beh_out = beh.tvrv(tv, rv)
##            if motion.is_done():
##                state = STATE_SUCCESS
            beh_out = beh.tvrv(-MOTION_TV, 0)

            if bump() or (pose.get_odometer() - at_queen_odo) > dist_traveled:
                state = STATE_SUCCESS

        elif state == STATE_SUCCESS:
            pass
        
        # end of the FSM
        
        if state not in [STATE_IDLE, STATE_RECRUIT, STATE_LEADER, STATE_SUCCESS, STATE_QUEEN]:
            bump_beh_out = beh.bump_beh(MOTION_TV)
            beh_out = beh.subsume([beh_out, bump_beh_out])

        # set the beh velocities
        beh.motion_set(beh_out)

        #set the HBA message
        msg = [0, 0, 0]
        msg[MSG_IDX_STATE] = state
        hba.set_msg(msg[0], msg[1], msg[2])