import numpy as np
import pygame
import pygame.surfarray as surfarray
from pygame.locals import *
import PyGameUtils
import Box2DWorld
from ExpRobotSetup import ExpSetupEpuck
box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT)
#***************************
#PYGAME initialization
#***************************
pygame.init()
PyGameUtils.setScreenSize(640, 480)
box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT)
#flags = FULLSCREEN | DOUBLEBUF
#screen = pygame.display.set_mode(box2dWH, flags, 8)
screen = pygame.display.set_mode(box2dWH, 0, 32)
screen.set_alpha(None)
surfarray.use_arraytype('numpy')
pygame.display.set_caption('Epuck Simulation')
clock = pygame.time.Clock()
exp = ExpSetupEpuck(n=2, debug=True)
running = True
while running:
sys.path.append('./_utils/')
import numpy as np
import pygame
import pygame.surfarray as surfarray
from pygame.locals import *
import PyGameUtils
import Box2DWorld
from ExpRobotSetup import ExpSetupRandall
#***************************
#PYGAME initialization
#***************************
pygame.init()
PyGameUtils.setScreenSize(800, 640)
box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT)
print box2dWH
#flags = FULLSCREEN | DOUBLEBUF
#screen = pygame.display.set_mode(box2dWH, flags, 8)
screen = pygame.display.set_mode(box2dWH, 0, 32)
screen.set_alpha(None)
surfarray.use_arraytype('numpy')
pygame.display.set_caption('Epuck Simulation')
clock = pygame.time.Clock()
exp = ExpSetupRandall(n=2, debug=True)
running = True
import numpy as np
import pygame
import pygame.surfarray as surfarray
from pygame.locals import *
import PyGameUtils
import Box2DWorld
from expsetup import Exes_ExpSetup
box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT)
# ***************************
# PYGAME initialization
# ***************************
pygame.init()
PyGameUtils.setScreenSize(900, 600)
# PyGameUtils.setScreenSize(720, 480)
box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT)
# flags = FULLSCREEN | DOUBLEBUF
# screen = pygame.display.set_mode(box2dWH, flags, 8)
screen = pygame.display.set_mode(box2dWH, 0, 32)
screen.set_alpha(None)
surfarray.use_arraytype('numpy')
pygame.display.set_caption('Epuck AWESOME Simulation')
clock = pygame.time.Clock()
exp = Exes_ExpSetup(n=2, rounds=60, payoff="low", contextual=False, debug=True)
#exp = IsmaExpSetup(n=2, rounds=50, payoff="high", contextual=False, debug=True)
exp_time = 0
if(event.key== pygame.K_LEFT): exp.setMotorSpeed(0,dm)
if(event.key== pygame.K_RIGHT): exp.setMotorSpeed(0,-dm)
if(event.key== pygame.K_UP): exp.setMotorSpeed(1,dm)
if(event.key== pygame.K_DOWN): exp.setMotorSpeed(1,-dm)
if(event.key== pygame.K_SPACE): exp.resetPosition()
if event.type==QUIT or event.key==K_ESCAPE:
# The user closed the window or pressed escape
running=False
screen.fill((0,0,0,0))
#PyGameUtils.draw_contacts(screen,exp)
PyGameUtils.draw_world(screen)
Box2DWorld.step()
#exp.update()
PyGameUtils.draw_salient(screen, exp)
PyGameUtils.my_draw_line(screen,[exp.getSalient()[0],exp.getLinkExtreme(0)])
PyGameUtils.my_draw_line(screen,[exp.getSalient()[1],exp.getLinkExtreme(1)])
pygame.display.flip() # Flip the screen and try to keep at the target FPS
clock.tick(Box2DWorld.TARGET_FPS)
pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " "*5))
pygame.quit()
print('Done!')
if (event.type != pygame.KEYDOWN): continue
if (event.key == pygame.K_LEFT): nao.arms[0].deltaMotor(dm)
if (event.key == pygame.K_RIGHT): nao.arms[0].deltaMotor(-dm)
if (event.key == pygame.K_UP): nao.arms[1].deltaMotor(dm)
if (event.key == pygame.K_DOWN): nao.arms[1].deltaMotor(-dm)
if (event.key == pygame.K_SPACE): exp.setObjPos()
if event.type == pygame.QUIT or event.key == pygame.K_ESCAPE:
# The user closed the window or pressed escape
running = False
screen.fill((0, 0, 0, 0))
PyGameUtils.draw_contacts(screen, exp)
PyGameUtils.draw_world(screen)
PyGameUtils.my_draw_line(screen, exp.getObjLine())
Box2DWorld.step()
exp.update()
PyGameUtils.draw_salient(screen, exp)
pygame.display.flip() # Flip the screen and try to keep at the target FPS
clock.tick(Box2DWorld.TARGET_FPS)
pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(),
" " * 5))
pygame.quit()
print('Done!')
for event in pygame.event.get():
if(event.type!=pygame.KEYDOWN): continue
if(event.key== pygame.K_LEFT): nao.arms[0].deltaMotor(dm)
if(event.key== pygame.K_RIGHT): nao.arms[0].deltaMotor(-dm)
if(event.key== pygame.K_UP): nao.arms[1].deltaMotor(dm)
if(event.key== pygame.K_DOWN): nao.arms[1].deltaMotor(-dm)
if(event.key== pygame.K_SPACE): exp.setObjPos()
if event.type==pygame.QUIT or event.key==pygame.K_ESCAPE: running=False
if(event.key== pygame.MOUSEBUTTONDOWN):
pygame.mouse.get_pressed()
screen.fill((0,0,0,0))
PyGameUtils.draw_contacts(screen,exp)
PyGameUtils.draw_world(screen)
#PyGameUtils.my_draw_line(screen, exp.getObjLine() )
Box2DWorld.step()
exp.update()
PyGameUtils.draw_salient(screen, exp)
pygame.display.flip() # Flip the screen and try to keep at the target FPS
clock.tick(Box2DWorld.TARGET_FPS)
pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " "*5))
pygame.quit()
print('Done!')
if(event.type!=KEYDOWN): continue
if(event.key== pygame.K_LEFT): nao.arms[0].deltaMotor(dm)
if(event.key== pygame.K_RIGHT): nao.arms[0].deltaMotor(-dm)
if(event.key== pygame.K_UP): nao.arms[1].deltaMotor(dm)
if(event.key== pygame.K_DOWN): nao.arms[1].deltaMotor(-dm)
if(event.key== pygame.K_SPACE): exp.setObjPos()
if event.type==QUIT or event.key==K_ESCAPE:
# The user closed the window or pressed escape
running=False
screen.fill((0,0,0,0))
PyGameUtils.draw_contacts(screen,exp)
PyGameUtils.draw_world(screen)
PyGameUtils.my_draw_line(screen, exp.getObjLine() )
Box2DWorld.step()
exp.update()
PyGameUtils.draw_salient(screen, exp)
pygame.display.flip() # Flip the screen and try to keep at the target FPS
clock.tick(Box2DWorld.TARGET_FPS)
pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " "*5))
pygame.quit()
print('Done!')
