def drawDivider(x, y, Color):
pygame.draw.rect(screen, Color, (x, y, 10, 900), 0)
def barrierExists(barrierList, x, y):
for barrier in barrierList:
if barrier.x == x and barrier.y == y:
return True
return False
# ---------------- Initialize Pygame Pieces -----------------
robotX = 800
robotY = 800
robot = Robot(screen, robotX, robotY)
y_change = 0
x_change = 0
barrierList = []
# ---------------- Initialize Receiver/Server -----------------
IP = '192.168.0.21'
PORT = 1234
r = Receiver(IP, PORT)
# ---------------- Initialize Variables -----------------
temp_data = 0
accel_data = ''
gyro_data = ''
def __init__(self):
# Toggle simulation elements
server_online = False
pygame_running = True
controller_connected = False
data_status = 'GUI'
print(time.time())
# Color List
white = (255, 255, 255)
green = (0, 255, 0)
blue = (0, 0, 128)
black = (0, 0, 0)
# ---------------- Initialize Pygame -----------------
pygame.init()
# ---------------- Initialize Pygame Pieces -----------------
if pygame_running:
screen = pygame.display.set_mode((1400, 900))
robotX = 800
robotY = 800
robot_angle = 0
scanner_angle = 0
robot = Robot(screen, robotX, robotY, 35, 35, (255, 255, 255))
scanner = Robot(screen, robotX, robotY, 20, 20, (0, 0, 255))
y_change = 0
x_change = 0
barrierList = []
font = pygame.font.Font('freesansbold.ttf', 32)
font_24 = pygame.font.Font('freesansbold.ttf', 24)
# ---------------- Initialize Receiver/Server -----------------
if server_online:
# Make sure IP and PORT match server side IP and PORT
IP = '192.168.2.2'
PORT = 10001
r = Receiver(IP, PORT)
r.client.connect()
# ---------------- Initialize Variables -----------------
temp_data = 0
accel_data = ''
gyro_data = ''
sonar_data = 0
ir_data = 1
message = ''
# ---------------- Initialize Controller -----------------
if controller_connected:
c = Controller()
# Set control mode to either "user-controlled" or "automated
control_mode = "user-controlled"
# ------------------- Configure Robot --------------------
arm_vert_axis = 0
arm_horiz_axis = 0
claw_open = True
screen = pygame.display.set_mode((width, height))
sim_surface = pygame.Surface((sim_width, sim_height))
dist_surface = pygame.Surface((dist_width, dist_height))
if simulation == 'minimap':
robotX = sim_width * 6 / 7
robotY = sim_height * 8 / 9
robot_angle = 0
scanner_angle = 0
robot_height = robot_width = sim_height * 4 / 90
scanner_height = scanner_width = sim_height * 2 / 90
robot = Robot(sim_surface, robotX, robotY, robot_height, robot_width,
(255, 255, 255))
scanner = Robot(sim_surface, robotX, robotY, scanner_height,
scanner_width, (0, 0, 255))
y_change = 0
x_change = 0
barrierList = []
barrier_width = sim_height / 100
elif simulation == 'lanecontrol':
robotX = sim_width / 2
robotY = sim_height / 2
robot_height = robot_width = sim_height / 3
scanner_height = scanner_width = sim_height / 3
def drawDivider(x, y, Color):
pygame.draw.rect(screen, Color, (x, y, 10, 900), 0)
def barrierExists(barrierList, x, y):
for barrier in barrierList:
if barrier.x == x and barrier.y == y:
return True
return False
robotX = 800
robotY = 800
robot = Robot(screen, robotX, robotY)
y_change = 0
x_change = 0
barrierList = []
c = Controller()
angle = 0
rotation = ''
fl = Motor(4)
fr = Motor(17)
br = Motor(22)
bl = Motor(27)
screen = pygame.display.set_mode((width, height))
sim_surface = pygame.Surface((sim_width, sim_height))
cockpit_surface = pygame.Surface((cockpit_width, cockpit_height))
compass_surface = pygame.Surface((compass_width, compass_height))
if simulation == 'minimap':
robotX = sim_width * 6 / 7
robotY = sim_height * 8 / 9
robot_angle = 0
scanner_angle = 0
robot_height = robot_width = sim_height * 4 / 90
scanner_height = scanner_width = sim_height * 2 / 90
robot = Robot(sim_surface, robotX, robotY, robot_height, robot_width,
(255, 255, 255))
scanner = Robot(sim_surface, robotX, robotY, scanner_height,
scanner_width, (0, 0, 255))
y_change = 0
x_change = 0
barrierList = []
barrier_width = sim_height / 100
elif simulation == 'lanecontrol':
robotX = sim_width / 2
robotY = sim_height / 2
pixels_per_inch = sim_height / 36