def test45():
ZumoButton().wait_for_press()
sensor = IRProximitySensor()
count = 0
while count < 10:
sensor.update()
print(sensor.get_value())
count += 1
time.sleep(2.5)
def setup(self):
# LineBehavior
rs = ReflectanceSensors()
rsob = ReflectanceSensob(rs)
lineb = FollowLineBehavior(self, [rsob], False, 0.7)
self.add_behavior(lineb)
self.activate_behavior(lineb)
self.add_sensob(rsob)
# Forward Behavior
forwardb = ForwardBehavior(self, [rsob], False, 0.2)
self.add_behavior(forwardb)
self.activate_behavior(forwardb)
# Follow green flask
my_camera = Camera()
self.followgreensensob = GreenDirectionSensob(my_camera)
followgreenb = FollowGreenFlask(self, [self.followgreensensob, rsob],
False, 1.0)
self.add_behavior(followgreenb)
self.activate_behavior(followgreenb)
self.add_sensob(self.followgreensensob)
# Avoid Collision
us = Ultrasonic()
ir = IRProximitySensor()
self.irob = IRProximitySensob(ir)
self.usob = UltrasonicSensob(us)
self.add_sensob(self.irob)
self.add_sensob(self.usob)
avoidb = AvoidCollisionBehavior(self, [self.usob, self.irob, rsob],
False, 1.0)
self.add_behavior(avoidb)
self.activate_behavior(avoidb)
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 calculateSides(self):
ir_proxy_sensor = IRProximitySensor()
ir_proxy_sensor.update()
values = ir_proxy_sensor.get_value()
if values[0] == values[1] == False or values[0] == values[1] == True and self.pri_value == 0:
self.IR_command = "FORWARD"
elif values[0] == values[1] == False or values[0] == values[1] == True and self.pri_value == 1000:
self.IR_command = "BACKWARD"
elif values[1] == True and values[0] == False:
self.IR_command = "RIGHT"
self.pri_value = 1000
elif values[0] == True and values[1] == False:
self.IR_command = "LEFT"
self.pri_value = 1000
return self.IR_command
def __init__(self):
self.arbitrator = Arbitrator(self)
#Oppretter fire sensob objekter. Kamera, ir, reflectance og ultra.
cam = Sensob()
cam.add_sensor(Camera())
ir = Sensob()
ir.add_sensor(IRProximitySensor())
reflect = Sensob()
reflect.add_sensor(ReflectanceSensors())
ultra = Sensob()
ultra.add_sensor(Ultrasonic())
self.sensob = [cam,ir,reflect,ultra]
self.motobs = [Motob()]
self.behaviors = []
self.wall_detected = False
self.wall_checked = False
def main():
M = Motors()
sensor1 = IRProximitySensor()
sensor2 = Ultrasonic()
sensor3 = Camera()
sensorsCamera = list()
sensorsCamera.append(sensor2)
sensorsCamera.append(sensor3)
sensorsDistance = list()
sensorsDistance.append(sensor2)
sensorsSides = list()
sensorsSides.append(sensor1)
sensobCamera = sensob(sensorsCamera, 3)
sensobDistance = sensob(sensorsDistance, 2)
sensobSides = sensob(sensorsSides, 1)
sensobs = list()
sensobs.append(sensobCamera)
sensobs.append(sensobDistance)
sensobs.append(sensobSides)
behaviors = []
behavior1 = Behavior(sensobSides, 1)
behavior2 = Behavior(sensobDistance, 2)
behavior3 = Behavior(sensobCamera, 3)
active_behaviors = list()
active_behaviors.append(behavior1)
active_behaviors.append(behavior2)
behaviors.append(behavior1)
behaviors.append(behavior2)
behaviors.append(behavior3)
imotobo = Imotob("Straight", "Straight", M)
#motobs = list()
#motobs.append(imotobo)
arbitrator = Arbitrator(behaviors)
bbcon = BBCON(behaviors, active_behaviors, sensobs, imotobo, arbitrator)
ZumoButton().wait_for_press()
i = 0
while (i < 8):
bbcon.run_one_timestep()
i += 1
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 __init__(self):
super(IRProximity_sensob, self).__init__()
self.sensors = [IRProximitySensor()]
def __init__(self):
""" Initialize IR and US sensors and add them
as sensors in a Sensob as well. """
ir_ = IRProximitySensor()
us_ = Ultrasonic()
super().__init__(sensors=[ir_, us_])