def lineCollision():
reflect = ReflectanceSensors()
ZumoButton().wait_for_press()
motor = Motors()
stuck = CheckStuck()
ultra = Ultrasonic()
proxim = IRProximitySensor()
sensobCol = Sensob()
sensobCol.set_sensors([ultra, proxim])
motob = Motob(motor=motor)
sensobLine = Sensob()
sensobLine.set_sensors([reflect])
arb = Arbitrator(motob=motob)
bbcon = BBCON(arbitrator=arb, motob=motob)
bbcon.set_checkStucker(stuck)
line = LineFollow(1, [sensobLine])
col = CollisionAvoidance(1, [sensobCol])
bbcon.add_behavior(line)
bbcon.add_behavior(col)
bbcon.add_sensob(sensobCol)
bbcon.add_sensob(sensobLine)
count = 0
while count < 20:
bbcon.run_one_timestep()
count += 1
def lineTest():
reflect = ReflectanceSensors()
ZumoButton().wait_for_press()
motor = Motors()
stuck = CheckStuck()
camera = Camera()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([reflect])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
bbcon.add_sensob(sensob)
bbcon.set_checkStucker(stuck)
b = LineFollow(1, [sensob])
bbcon.add_behavior(b)
timesteps = 0
while timesteps < 30:
bbcon.run_one_timestep()
timesteps += 1
def trackTest():
ZumoButton().wait_for_press()
motor = Motors()
ultra = Ultrasonic()
camera = Camera()
stuck = CheckStuck()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([ultra, camera])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
b = TrackObject(priority=1, sensobs=[sensob])
bbcon.set_checkStucker(stuck)
bbcon.add_behavior(b)
bbcon.activate_behavior(0)
bbcon.add_sensob(sensob)
timesteps = 0
while timesteps < 25:
bbcon.run_one_timestep()
timesteps += 1
def main():
wp.wiringPiSetupGpio()
ZumoButton().wait_for_press()
global bbcon
bbcon = BBCON()
signal.signal(signal.SIGINT, signal_handler)
run_forward = RunForward(bbcon, 2, [])
bbcon.add_behavior(run_forward)
bbcon.activate_behavior(run_forward)
#stand_still = StandStill(bbcon, 1, [])
#bbcon.add_behavior(stand_still)
#bbcon.activate_behavior(stand_still)
line_follower = LineFollower(bbcon, 5, [bbcon.sensobs['line_pos']])
bbcon.add_behavior(line_follower)
bbcon.activate_behavior(line_follower)
find_red = FindRed(
bbcon, 3, [bbcon.sensobs['red_search'], bbcon.sensobs['distance']])
bbcon.add_behavior(find_red)
avoid_walls = AvoidWalls(
bbcon, 10, [bbcon.sensobs['distance'], bbcon.sensobs['proximity']])
bbcon.add_behavior(avoid_walls)
bbcon.activate_behavior(avoid_walls)
while True:
bbcon.run_one_timestep()
def systemTest():
motor = Motors()
ultra = Ultrasonic()
proxim = IRProximitySensor()
camera = Camera()
reflectance = ReflectanceSensors()
motob = Motob(motor)
arbitrator = Arbitrator(motob)
stuck = CheckStuck()
collisionSensob = Sensob()
collisionSensob.set_sensors([ultra, proxim])
lineSensob = Sensob()
lineSensob.set_sensors([reflectance])
trackSensob = Sensob()
trackSensob.set_sensors([ultra, camera])
b = CollisionAvoidance(1, [collisionSensob])
f = LineFollow(1, [lineSensob])
t = TrackObject(1, [trackSensob])
#print(collisionSensob.sensors)
#print(lineSensob.sensors)
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
bbcon.set_checkStucker(stuck)
bbcon.add_behavior(b)
bbcon.add_behavior(f)
bbcon.add_behavior(t)
#bbcon.activate_behavior(0)
#bbcon.activate_behavior(1)
#bbcon.activate_behavior(2)
bbcon.add_sensob(collisionSensob)
bbcon.add_sensob(lineSensob)
bbcon.add_sensob(trackSensob)
runTimesteps(bbcon, 100)
def main():
bbcon1 = BBCON() # Create BBCON
# Motors
motor1 = Motors() # Create a Motor
motob1 = Motob(motor1) # Create a motob
bbcon1.motobs = [motob1] # Give Motor to BBCON
zumo_button = ZumoButton() # Sets up pins and Zumobutton
# Add setup for camera, and add it to BBCON when we want to test everything together
camera_sensor = FindRedSensob() # Create obstacle sensob
find_and_follow_behavior = FindAndFollowRedBallBehavior(
bbcon1, 3) # Create obstacle Behavior
camera_sensor.add_behavior(
find_and_follow_behavior) # Give sensob the behavior
bbcon1.add_behavior(find_and_follow_behavior) # Give BBCON the behavior
bbcon1.add_sensob(camera_sensor)
motor1.stop() # Stop all motors
print("\nAll creation is done, entering main loop\n")
q = ""
while q is not 'q':
zumo_button.wait_for_press()
for i in range(0, 10):
print("Iteration " + str(i))
if bbcon1.run_one_timestep():
motor1.stop()
exit()
motor1.stop()
q = input("Press 'q' to quit: ")
exit()
def main():
zumo_button = ZumoButton() # Sets up pins and Zumobutton
zumo_button.wait_for_press()
bbcon1 = BBCON() # Create BBCON
#Motors
motor1 = Motors() # Create a Motor
motob1 = Motob(motor1) # Create a motob
bbcon1.motobs = [motob1] # Give Motor to BBCON
# Collision avoidance
ultra_sensor = ObstacleDetectionSensob() # Create obstacle sensob
avoid_object = AvoidObstacleBehavior(bbcon1, 1.5) # Create obstacle Behavior
ultra_sensor.add_behavior(avoid_object) # Give sensob the behavior
bbcon1.add_behavior(avoid_object) # Give BBCON the behavior
bbcon1.add_sensob(ultra_sensor) # Give BBCON the sensor
# Line follow
line_sensor = IRSensob() # Create IR sensob
line_follow = FollowLineBehavior(bbcon1, 0.5) # Create linefollow behavior
line_follow.add_sensob(line_sensor) # Give linefollow sin sensob
bbcon1.add_behavior(line_follow) # Give BBCON the linefollow
bbcon1.add_sensob(line_sensor) # Give BBCON the IR sensob
# Add setup for camera, and add it to BBCON when we want to test everything together
camera_sensor = FindRedSensob() # Create obstacle sensob
find_and_follow_behavior = FindAndFollowRedBallBehavior(bbcon1, 1) # Create obstacle Behavior
camera_sensor.add_behavior(find_and_follow_behavior) # Give sensob the behavior
bbcon1.add_behavior(find_and_follow_behavior) # Give BBCON the behavior
bbcon1.add_sensob(camera_sensor)
motor1.stop() # Stop all motors
print("\nAll creation is done, entering main loop\n")
q = input("Press 'q' to quit: ")
while q is not 'q':
#Runs 100 timesteps. Stops if q is pressed.
for i in range(0, 100):
print("\nIteration " + str(i))
if bbcon1.run_one_timestep():
motor1.stop()
exit()
motor1.stop()
q = input("Press 'q' to quit: ")
else:
ZumoButton().wait_for_press()
motors = Motors()
motob = Motob(motors, commands)
prios = {"carry_on": .1, "avoid_lines": 1, "obstacle": 3, "picture": 1}
bbcon = BBCON(config_values, motob)
behaviors = {
"carry_on": CarryOn(bbcon, True, prios["carry_on"],
[sensobs["distnc"]]),
"avoid_lines": AvoidLines(bbcon, True, prios["avoid_lines"],
line_sensobs),
"picture": Picture(bbcon, False, prios["picture"], [sensobs["rgbsns"]])
}
bbcon.add_behavior(behaviors["carry_on"])
bbcon.add_behavior(behaviors["avoid_lines"])
bbcon.add_behavior(behaviors["picture"])
for sensob in sensobs.values():
bbcon.add_sensob(sensob)
while True:
if bbcon.run_one_timestep():
break
print("ferdig.")