def __init__(self, port):
self.zoom = 1
self.disp = Display(self.zoom)
#robot displays by default at 100 pixels square.
#read robot is approx 26cm square
#multiply default scaled distances by scale to get cm
#internally the model works in default scaled pixels. But it returns
#cm on the UI and TCP interfaces.
self.scale = 26.0 / 100
timenow = time.time()
self.robot = RobotModel(self.disp, 100, self.scale, timenow)
self.world = WorldModel(self.disp, self.robot, timenow)
self.world.add_default_walls()
if (port != 0):
self.controller = Controller(port, self.robot, 1)
else:
self.controller = Controller(55443, self.robot, 0)
self.robot.set_controller(self.controller)
self.robot.init_robot_posn(500, 350, 0)
self.robot.set_ir_angles(0, 0)
self.robot.stop()
self.active = True
