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: ")
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()