from classes.Cellule import Cellule
from classes.StationRecharge import StationRecharge
from classes.LieuMission import LieuMission
from classes.Robot import Robot
from classes.Carte import Carte
from random import *
from tkinter import *
carte = Carte("a")
carte.creationCartes(5,5)
rob = Robot("HAllo",carte.cellule(0,0), carte)
print(carte)
def ajouterRobot(self, nom, color, cellule, carte, simulation) -> Robot:
robot = Robot(nom, color, cellule, carte, simulation, self)
self.robots.append(robot)
return robot
else:
robot.setSpeed(-BACKTRACK_VELOCITY, 0)
time.sleep(MOVEMENT_TIME)
distance = robot.getObstacleDistance()
# Returns whether our is at the lefth position or not
return coordinatesOur[0] > coordinatesOther[0]
if __name__ == "__main__":
try:
# Initialize Odometry. Default value will be 0,0,0
robot = Robot()
# start odometry
robot.startOdometry()
time.sleep(5)
# 1.
image_R2D2 = cv2.flip(
cv2.imread("images/R2-D2_s.png", cv2.IMREAD_COLOR), -1)
image_BB8 = cv2.flip(cv2.imread("images/BB8_s.png", cv2.IMREAD_COLOR),
-1)
our, other = (image_R2D2, image_BB8) if not Cfg.bb8 else (image_BB8,
image_R2D2)
# 2.
print("Press ESC to quit")
from classes import Cfg
from classes.Map import GRID
from classes.MapLib import Map2D
from classes.Robot import Robot
matplotlib.use(
"TkAgg"
) # sudo apt-get install tcl-dev tk-dev python-tk python3-tk if TkAgg is not available
robot = None
if __name__ == "__main__":
try:
# load map
myMap = Map2D(Cfg.FOLDER_MAPS + 'mapa0.txt')
myMap.sizeCell = GRID # hardcoded because it should not be in the file!!!!
# init Robot
robot = Robot([*myMap._cell2pos(1, 7), np.deg2rad(0)])
robot.startOdometry()
# spin and wait
robot.setSpeed(0, np.deg2rad(-30))
time.sleep(12)
finally:
# wrap up and close stuff before exiting
if robot is not None: robot.stopOdometry()
import matplotlib
import numpy as np
from classes import Cfg
from classes.Map import GRID
from classes.MapLib import Map2D
from classes.Robot import Robot
matplotlib.use(
"TkAgg"
) # sudo apt-get install tcl-dev tk-dev python-tk python3-tk if TkAgg is not available
robot = None
if __name__ == "__main__":
try:
# load map
myMap = Map2D(Cfg.FOLDER_MAPS + 'mapa0.txt')
myMap.sizeCell = GRID # hardcoded because it should not be in the file!!!!
# init Robot
robot = Robot([*myMap._cell2pos(1, 7), np.deg2rad(0)])
robot.startOdometry()
# spin and wait
robot.updateThOnWall()
finally:
# wrap up and close stuff before exiting
if robot is not None: robot.stopOdometry()
from classes.Robot import Robot
from functions.get_image_match import match_images
Cfg.add_argument("-bb8", "--bb8", help="detect bb8", action="store_true")
Cfg.add_argument("--use_image",
help="use the given image instead of capturing picamera",
default=None)
robot = None
#
if __name__ == "__main__":
try:
# Initialize Odometry. Default value will be 0,0,0
robot = Robot()
# 1.
image_R2D2 = cv2.flip(
cv2.imread("images/R2-D2_s.png", cv2.IMREAD_COLOR), -1)
image_BB8 = cv2.flip(cv2.imread("images/BB8_s.png", cv2.IMREAD_COLOR),
-1)
our, other = (image_R2D2, image_BB8) if not Cfg.bb8 else (image_BB8,
image_R2D2)
capture = None if not Cfg.use_image else cv2.flip(
cv2.imread(Cfg.use_image, cv2.IMREAD_COLOR), -1)
# 2.
print("Press ESC to quit")
try:
# check map file
mapFile = Cfg.FOLDER_MAPS + Cfg.mapfile
os.makedirs(os.path.dirname(mapFile), exist_ok=True)
if not os.path.isfile(mapFile):
print('Map file %s does not exist' % Cfg.mapfile)
exit(1)
# 1. load map
myMap = Map2D(mapFile)
myMap.sizeCell = GRID # hardcoded because it should not be in the file!!!!
initial_position = [Cfg.startCell[0] % myMap.sizeX, Cfg.startCell[1] % myMap.sizeY]
target_position = [Cfg.endCell[0] % myMap.sizeX, Cfg.endCell[1] % myMap.sizeY]
# 2. init Robot and launch updateOdometry thread()
robot = Robot([*myMap._cell2pos(*initial_position), 0])
robot.startOdometry()
time.sleep(3)
# 3. perform trajectory
traverseLabyrinth(target_position, myMap, robot)
robot.setSpeed(0, 0)
myMap.drawMapWithRobotLocations([robot.readOdometry()])
finally:
# wrap up and close stuff before exiting
if robot is not None: robot.stopOdometry()
IMAGE_BB8 = cv2.flip(cv2.imread("images/BB8_s.png", cv2.IMREAD_COLOR), -1)
IMAGE_OUR, IMAGE_OTHER = (IMAGE_R2D2,
IMAGE_BB8) if not Cfg.bb8 else (IMAGE_BB8,
IMAGE_R2D2)
robot = None
if __name__ == "__main__":
try:
# load map
myMap = Map2D(Cfg.FOLDER_MAPS + 'mapa0.txt')
myMap.sizeCell = GRID # hardcoded because it should not be in the file!!!!
# init Robot
robot = Robot([*myMap._cell2pos(1, 7), np.deg2rad(-90)])
def go(x, y):
""" alias to move the robot to cell (x,y) """
robot.go(*myMap._cell2pos(x, y))
def lookAt(x, y):
""" alias to make the robot look at cell (x,y) """
robot.lookAt(*myMap._cell2pos(x, y))
# press button to start
robot.waitButtonPress()
# start odometry
robot.startOdometry()