def exp_readings_for_pose(pose, thresholds, ir_range=80,
radius=26.5, plot=False):
if type(thresholds) is list:
thresholds_s = thresholds
else:
sorted_keys = thresholds.keys()
sorted_keys.sort()
thresholds_s = [thresholds[key] for key in sorted_keys
if 'sensor' in key]
exp_ds = exp_distances_for_pose(pose, ir_range, radius, plot)
readings = [utils.estimated_reading(d, t)
for d, t in zip(exp_ds, thresholds_s)]
return readings
def reading_estimate():
r = Robot()
sensor_num = raw_input('which sensor do you want to test?') or '3'
while True:
real_distance = raw_input('how far away in mm are you from a wall?')
r.update_data()
try:
real_reading = r.data.sensor_values[int(sensor_num)]
except IndexError:
print 'no data at that index'
continue
threshold = r.data.thresholds['sensor'+sensor_num]
guessed_reading = utils.estimated_reading(real_distance, threshold)
print 'guessed reading: %.2f real reading: %.2f error: %.2f' % (guessed_reading, real_reading, abs(guessed_reading-real_reading))
