def listen():
key = event.char
if (key.lower() == "w"):
robot.forward()
else:
gpio.cleanup()
time.sleep(0.025)
def control_robot():
global ts, old_id
ts = time.time()
direction = request.args.get('direction', 0)
mousedown = request.args.get('mousedown', 0)
user_age = int(request.args.get('user_age', 0))
user_id = request.args.get('user_id', 0)
for robot in ROBOTS:
if user_id == robot.user_id:
if mousedown == '1':
print('button pressed:', direction)
if direction == 'up':
robot.forward()
elif direction == 'left':
robot.left()
elif direction == 'right':
robot.right()
else:
robot.reverse()
else:
robot.stop()
return jsonify(color=robot.color, endgame=0)
elif user_id == old_id:
return jsonify(color=robot.color, endgame=1)
# if above didn't return, new user:
oldest_robot = max(ROBOTS, key=lambda x: x.age())
old_id = oldest_robot.user_id
oldest_robot.user_id = user_id
oldest_robot.user_age = user_age
oldest_robot.user_time = time.time()
print("new user: {}, {}, assigned {}".format(user_id, user_age,
robot.color))
return jsonify(color=robot.color, endgame=0)
async def handle_command(websocket, path):
while True:
message = await websocket.recv()
message = literal_eval(message)
print(message)
if message['command'] == 'moveForward':
robot.forward()
answer = {'action': 'moveForward'}
elif message['command'] == 'moveBackward':
robot.backward()
answer = {'action': 'moveBackward'}
elif message['command'] == 'turnRight':
robot.right()
answer = {'action': 'turnRight'}
elif message['command'] == 'turnLeft':
robot.left()
answer = {'action': 'turnLeft'}
elif message['command'] == 'stop':
robot.stop()
answer = {'action': 'stop'}
elif message['command'] == 'grabberGrab':
# grabber action grab
answer = {'action': 'grabberGrab', 'value': message['value']}
elif message['command'] == 'grabberTilt':
# grabber action tilt
answer = {'action': 'grabberTilt', 'value': message['value']}
elif message['command'] == 'grabberHeight':
# grabber action height
answer = {'action': 'grabberHeight', 'value': message['value']}
await websocket.send(json.dumps(answer))
def execute(img):
global width
global height
global isObject
global isMoving
global start
image = cv2.resize(img, (300,300))
# compute all detected objects
detections = model(image)
# draw all detections on image
for det in detections[0]:
bbox = det['bbox']
text = str(category_map[det['label']])
cv2.rectangle(image, (int(width * bbox[0]), int(height * bbox[1])), (int(width * bbox[2]), int(height * bbox[3])), (255, 0, 0), 2)
cv2.putText(image, text, (int(width * bbox[0]), int(height * bbox[3])), cv2.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 255), lineType=cv2.LINE_AA)
# select detections that match selected class label
matching_detections = [d for d in detections[0] if d['label'] == 53]
# get detection closest to center of field of view and draw it
det = closest_detection(matching_detections)
if det is not None:
bbox = det['bbox']
cv2.rectangle(image, (int(width * bbox[0]), int(height * bbox[1])), (int(width * bbox[2]), int(height * bbox[3])), (0, 255, 0), 5)
if det is None:
if isObject == True:
start = time.time()
isObject = False
if (time.time() - start) > 4:
robot.stop()
# otherwsie steer towards target
else:
if isMoving == False:
start = time.time()
isMoving = True
center = detection_center(det)
print(center)
# move robot forward and steer proportional target's x-distance from center
if center[0] > 0.2:
print('left')
robot.left()
elif center[0] < -0.2:
print('right')
robot.right()
elif center[0] > -0.2 and center[0] < 0.2:
print('forward')
robot.forward()
if (time.time() - start) > 2:
isMoving = False
return cv2.imencode('.jpg', image)[1].tobytes()
def do_POST(self):
global f
global b
global r
global l
global robot
self._set_headers()
form = cgi.FieldStorage(fp=self.rfile,
headers=self.headers,
environ={'REQUEST_METHOD': 'POST'})
print form.getvalue("forward")
print form.getvalue("backward")
print form.getvalue("left")
print form.getvalue("right")
if form.getvalue("forward") == "Forward":
if f == 0:
robot.stop()
robot.forward()
f = 1
else:
robot.stop()
f = 0
if form.getvalue("backward") == "Backward":
if b == 0:
robot.stop()
robot.backward()
b = 1
else:
robot.stop()
b = 0
if form.getvalue("left") == "Left":
if l == 0:
robot.stop()
robot.left()
l = 1
else:
robot.stop()
l = 0
if form.getvalue("right") == "Right":
if r == 0:
robot.stop()
robot.right()
r = 1
else:
robot.stop()
r = 0
file = open("index.html", "r")
page = file.read()
file.close()
self.wfile.write(page)
def move(direction):
if direction == 'forward':
robot.forward(0.5)
if direction == 'backward':
robot.backward(0.5)
if direction == 'left':
robot.left(0.5)
if direction == 'right':
robot.right(0.5)
return '{}'
def action(client, userdata, message):
data = message.payload.decode()
data = json.loads(data)
data = data['action']
print(data)
if data == 'forward':
print('forward')
robot.forward()
elif data == 'stop':
print('stop')
robot.stop()
elif data == 'left':
print('left')
robot.left()
elif data == 'right':
print('right')
robot.right()
elif data == 'backward':
print('backward')
robot.backward()
elif data == 'servo left':
print('servo left')
robot.servo_left()
elif data == 'servo center':
print('servo center')
robot.servo_center()
elif data == 'servo right':
print('servo right')
robot.servo_right()
elif data == 'lights':
print('lights')
robot.lights()
elif data == 'blinkers':
print('blinkers')
robot.blinkers()
elif data == 'voltage':
print('voltage')
voltage = robot.voltage()
voltage = send_json(voltage)
myMQTT.publish('from_robot', voltage, 0)
elif data == 'distance':
print('distance')
distance = robot.distance()
distance = send_json(distance)
myMQTT.publish('from_robot', distance, 0)
else:
pass
def move_div():
#if flask.request.method == 'POST':
if flask.request.form['button'] == 'forward':
print('forward!')
robot.forward()
elif flask.request.form['button'] == 'stop':
print('stop!')
robot.stop()
elif flask.request.form['button'] == 'left':
print('left')
robot.left()
elif flask.request.form['button'] == 'right':
print('right')
robot.right()
elif flask.request.form['button'] == 'backward':
print('backward')
robot.backward()
else:
pass
return flask.render_template('index.html')
def findLineCtrl(self, posInput, setCenter): #2
if not posInput:
robot.robotCtrl.moveStart(speedMove, 'no', 'no')
return
if posInput > (setCenter + findLineError):
#turnRight
robot.right()
self.CVCommand = 'Turning Right'
print('Turning Right')
elif posInput < (setCenter - findLineError):
#turnLeft
robot.left()
self.CVCommand = 'Turning Left'
print('Turning Left')
else:
#forward
robot.forward()
self.CVCommand = 'Forward'
print('Forward')
def robot_code():
robot.forward(20)
robot.turn_right(90)
robot.forward(40)
robot.turn_left(90)
robot.forward(40)
robot.turn_right(90)
robot.backwards(40)
robot.stop()
import robot
robot.pause_for(2.00) # s
for count in range(4):
robot.forward(50.0) # cm
robot.left(90.0) # degrees
robot.send_command_list()
[1,1,1,1,1,1,1,1,1,1]] robot.create(world, direction, speed) # INSTRUCTIONS # robot.turn_on() Power on # robot.turn_off() Power off # robot.forward() Go forward # robot.left() Turn left # robot.right() Turn right # robot.has_finished() Returns True if game has finished # robot.sense() Sensor determines if there's a wall # # Start game and PRESS ENTER to active the robot # Let's go!! robot.turn_on() # YOUR CODE HERE robot.forward() # Power off the robot robot.turn_off()
def forward():
global currentSpeed, currentCommand
robot.forward(currentSpeed)
carLeds.execute("forward")
# robot to take to come to a stop. # # If you want the robot to move backwards (or it is moving # backwards and you want it to come to a stop), just put a # negative sign in front of every value v. # # Finally, if you want the robot to rotate, enter: # # robot.left(theta) # deg # # where theta is the number of degrees you want the robot # to rotate in the counter-clockwise direction. Use a # negative value if you want the robot to rotate clockwise. # # # Note that the Python interpreter ignores anything written # after a sharp character (#). In IDLE, text that the interpreter # will ignore (like this text) is red. # # You can start your list of commands on the line after # this line. We have written one command for you: robot.pause_for(1.00) # s robot.forward(10.00) # cm ############################################################# # If you want your program to work, don't change this part! # # # robot.send_command_list() # # # #############################################################
import robot ''' We import robot. This lets us call all of the functions in robot.py. We set robot_debug to True to test our code without sending it to the robot. Set robot_debug to False when you are ready to run your code on the robot. ''' robot.robot_debug = False robot.robot_speed = 200 robot.forward(5.0) robot.forward(1.0) robot.left(1.5) robot.right(1.0) robot.blink(1.0) robot.forward(4.5) # # robot.robot_speed = 125 # robot.forward(3) # robot.right_rot(.7) # robot.forward(2.5) # robot.left_rot(.7) # robot.forward(5) # robot.forward(4) # robot.left_rot(.7) # robot.forward(3) # # robot.forward(3) # robot.right_rot(.7)
def run_along_obstacle(robot, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar):
log(INFO, 'Starting along obstacle mode')
front_pan_tilt.reset()
back_pan_tilt.reset ()
# ###################################### #
# Find direction of the closest obstacle #
# ###################################### #
log(INFO, 'Looking for the best direction to start')
closest_obstacle_distance, closest_obstacle_angle = find_closest_obstacle(PAN_ANGLE_MIN, PAN_ANGLE_MAX, OBSTACLE_FAST_SCANNING_STEP, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar)
# ##################################### #
# Get parallel to this closest obstacle #
# ##################################### #
if closest_obstacle_angle < 0:
log(INFO, 'Closest obstacle is on the right')
is_obstacle_on_the_right = True
if -90 < closest_obstacle_angle < 0:
robot.left_with_angle(90 + closest_obstacle_angle, True)
else:
robot.right_with_angle(-closest_obstacle_angle - 90, True)
else:
log(INFO, 'Closest obstacle is on the left')
is_obstacle_on_the_right = False
if 0 < closest_obstacle_angle < 90:
robot.right_with_angle(90 - closest_obstacle_angle, True)
else:
robot.left_with_angle(closest_obstacle_angle - 90, True)
log(INFO, 'Now parallel to the closest obstacle')
# ############################## #
# Now move along obstacle #
# ############################## #
if is_obstacle_on_the_right == True:
back_pan_tilt.pan_go_left()
else:
back_pan_tilt.pan_go_right()
reference_distance = back_lidar.get_distance()
log(INFO, 'Reference distance: {:06.3f}'.format(reference_distance))
while (control.main_mode == MODE.ALONG_OBSTACLE) and (control.is_mode_aborted == False):
robot.forward(TARGET_SPEED_STEP)
front_distance = front_lidar.get_distance()
side_distance = back_lidar.get_distance()
delta_distance = side_distance - reference_distance
if front_distance < AVOID_OBSTACLE_STOP_DISTANCE:
log(INFO, 'Obstacle ahead: changing direction')
robot.stop()
if is_obstacle_on_the_right == True:
robot.left_with_angle(45, True)
else:
robot.right_with_angle(45, True)
log(INFO, 'Ready to restart along obstacle')
elif side_distance > 2 * reference_distance:
log(INFO, 'Lost obstacle: changing direction')
robot.stop()
if is_obstacle_on_the_right == True:
robot.right_with_angle(45, True)
else:
robot.left_with_angle(45, True)
robot.forward(TARGET_SPEED_STEP)
# Wait a bit for a move to be done
time.sleep(1)
log(INFO, 'Ready to restart along obstacle')
elif -ALONG_OBSTACLE_PRECISION < delta_distance < ALONG_OBSTACLE_PRECISION:
log(DEBUG, 'Obstacle is at the expected distance: moving on...')
robot.stop_turn()
elif delta_distance > 0:
log(DEBUG, 'Going away from obstacle: correcting...')
if is_obstacle_on_the_right == True:
robot.right_with_strength(LEFT_RIGHT_TURN_STRENGTH)
else:
robot.left_with_strength(LEFT_RIGHT_TURN_STRENGTH)
else:
log(DEBUG, 'Going away from obstacle: correcting...')
if is_obstacle_on_the_right == True:
robot.left_with_strength(LEFT_RIGHT_TURN_STRENGTH)
else:
robot.right_with_strength(LEFT_RIGHT_TURN_STRENGTH)
robot.stop()
front_pan_tilt.reset()
back_pan_tilt.reset ()
import robot ''' We import robot. This lets us call all of the functions in robot.py. We set robot_debug to True to test our code without sending it to the robot. Set robot_debug to False when you are ready to run your code on the robot. ''' robot.robot_debug = False robot.robot_speed = 150 robot.forward(1.0) robot.forward(1.0) robot.left(1.0) robot.right(1.0) robot.blink(10) robot.forward(1.0) # # robot.robot_speed = 125 # robot.forward(3) # robot.right_rot(.7) # robot.forward(2.5) # robot.left_rot(.7) # robot.forward(5) # robot.forward(4) # robot.left_rot(.7) # robot.forward(3) # # robot.forward(3) # robot.right_rot(.7)
obv = int(obv)
oba = oba - 100
obv = obv - 100
except:
pass
#oba=60
print("obstacle at: {}".format(oba))
print("visible at: {}".format(obv))
#thoorama irruku'
if ((x <= 400) and (x >= 200)):
#desti is straight but check for foreign objs
if ((oba < 50) or (oba > 150)):
#go straight
robot.forward(0.5)
elif (x > 290):
robot.left(0.55)
robot.forward(2.5)
robot.right(0.55)
elif (x <= 290):
robot.right(0.55)
robot.forward(2.5)
robot.left(0.55)
elif (x > 400):
robot.right(0.1)
elif (x < 200):
robot.left(0.1)
elif (h > 100):
robot.stopp()
def forward():
global currentSpeed, currentCommand
robot.forward(currentSpeed)
carLeds.execute("forward")
print('Connection Refused')
time.sleep(5)
else:
print('Connected')
state = True
break
print('Waiting for data...')
data = s.recv(2048)
if not data:
s.close()
state = False
print(data.decode())
if data == 'forward':
print('forward!')
robot.forward()
elif data == 'stop':
print('stop!')
robot.stop()
elif data == 'left':
print('left')
robot.left()
elif data == 'right':
print('right')
robot.right()
elif data == 'backward':
print('backward')
robot.backward()
elif data == 'servo left':
print('servo left')
robot.servo_left()
def console_thread(robot, left_motor, right_motor, imu_device, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar, speed_pid_controller):
print_help()
is_console_on = True
selected_pid = 1
while is_console_on == True:
print('> ', end = '')
user_input = input()
if len(user_input) == 1:
command = user_input[0]
if command == '1':
print('')
print('Speed PID selected')
print('')
selected_pid = 1
elif command == 'm':
print('')
left_motor.print_info ('LEFT DC MOTOR')
right_motor.print_info('RIGHT DC MOTOR')
print('')
elif command == 'v':
print('')
front_pan_tilt.print_info('FRONT')
print('')
back_pan_tilt.print_info ('BACK' )
print('')
elif command == 'c':
print('')
print('SPEED PID:')
speed_pid_controller.print_info()
print('')
elif command == 'u':
print('')
imu_device.print_info()
print('')
elif command == 'r':
print('')
robot.print_info()
print('')
front_lidar.print_info('FRONT LIDAR')
back_lidar.print_info ('BACK LIDAR')
print('')
print('Line following threshold: {}'.format(control.line_threshold))
print('')
elif command == 'q':
print('')
print('***** GOING TO OPERATIONAL MODE *****')
is_console_on = False
elif command == 'x':
print('***** EXITING GRACEFULLY *****')
robot.stop()
front_pan_tilt.stop()
back_pan_tilt.stop ()
if status.is_rpi_gpio_used:
RPi.GPIO.cleanup()
os._exit(0)
elif command == 'h':
print_help()
elif len(user_input) == 2:
command = user_input[0:2]
if command == 'sf':
robot.forward_step()
elif command == 'sb':
robot.backward_step()
elif command == 'sl':
robot.left_step()
elif command == 'sr':
robot.right_step()
elif len(user_input) > 2 and user_input[1] == '=':
command = user_input[0]
value = float(user_input[2:])
if command == 'l':
if value == 0:
log_set_level(NO_LOG )
elif value == 1:
log_set_level(ERROR )
elif value == 2:
log_set_level(WARNING)
elif value == 3:
log_set_level(INFO )
elif value == 4:
log_set_level(DEBUG )
else:
print('Invalid log level')
elif command == 'p':
if selected_pid == 1:
speed_pid_controller.set_kp(value)
elif command == 'i':
if selected_pid == 1:
speed_pid_controller.set_ki(value)
elif command == 'd':
if selected_pid == 1:
speed_pid_controller.set_kd(value)
elif command == 'w':
if selected_pid == 1:
speed_pid_controller.set_anti_wind_up(value)
elif command == 's':
if value > 0:
robot.forward(value)
elif value < 0:
robot.backward(-value)
else:
robot.stop()
elif command == 'a':
if value < 0:
robot.right_with_angle(-value, True)
else:
robot.left_with_angle(value, True)
elif command == 'g':
if value < 0:
robot.right_with_strength(-value)
else:
robot.left_with_strength(value)
elif command == 't':
control.line_threshold = value
elif len(user_input) > 2 and user_input[2] == '=':
command = user_input[0:2]
value = float(user_input[3:])
if command == 'fp':
front_pan_tilt.set_pan(value)
elif command == 'ft':
front_pan_tilt.set_tilt(value)
elif command == 'bp':
back_pan_tilt.set_pan(value)
elif command == 'bt':
back_pan_tilt.set_tilt(value)
import robot print "forward" robot.forward(5) print "right" robot.right(2) print "left" robot.left(2) print "reverse" robot.reverse(2) print "stop"
def run_corridor_following(robot, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar):
log(INFO, 'Starting corridor following mode')
front_pan_tilt.reset()
back_pan_tilt.reset ()
# ###################################### #
# Find direction of the closest obstacle #
# ###################################### #
log(INFO, 'Looking for the best direction to start')
closest_obstacle_distance, closest_obstacle_angle = find_closest_obstacle(PAN_ANGLE_MIN, PAN_ANGLE_MAX, OBSTACLE_FAST_SCANNING_STEP, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar)
# ############################ #
# Aim at this closest obstacle #
# ############################ #
if closest_obstacle_angle < 0:
robot.right_with_angle(-closest_obstacle_angle, True)
else:
robot.left_with_angle(closest_obstacle_angle, True)
log(INFO, 'Now aiming at the closest obstacle')
# ############################ #
# Get centered in the corridor #
# ############################ #
is_centered = False
while is_centered == False:
front_wall_distance = front_lidar.get_distance()
back_wall_distance = back_lidar.get_distance ()
delta_distance = front_wall_distance - back_wall_distance
if -CORRIDOR_FOLLOWING_PRECISION < delta_distance < CORRIDOR_FOLLOWING_PRECISION:
is_centered = True
elif delta_distance > 0:
robot.forward_step ()
else:
robot.backward_step()
log(INFO, 'Now centered in corridor')
# ############################## #
# Get into the forward direction #
# ############################## #
robot.right_with_angle(90, True)
log(INFO, 'Ready to move in corridor')
# ######################################## #
# Now move forward in corridor and #
# keep the best possible centered position #
# ######################################## #
front_pan_tilt.pan_go_left()
back_pan_tilt.pan_go_left ()
while (control.main_mode == MODE.FOLLOW_CORRIDOR) and (control.is_mode_aborted == False):
robot.forward(TARGET_SPEED_STEP)
left_wall_distance = front_lidar.get_distance()
right_wall_distance = back_lidar.get_distance ()
delta_distance = left_wall_distance - right_wall_distance
if -CORRIDOR_FOLLOWING_PRECISION < delta_distance < CORRIDOR_FOLLOWING_PRECISION:
log(DEBUG, 'Correctly centered in corridor: moving on...')
robot.stop_turn()
# Allow u-turn only when robot is centered
if control.is_u_turn_requested == True:
log(DEBUG, 'Performing u-turn as per requested')
robot.stop()
robot.right_with_angle(180, True)
control.is_u_turn_requested = False
elif delta_distance > 0:
log(DEBUG, 'Going away from center: correcting to the left...')
robot.left_with_strength(LEFT_RIGHT_TURN_STRENGTH / 2)
else:
log(DEBUG, 'Going away from center: correcting to the right...')
robot.right_with_strength(LEFT_RIGHT_TURN_STRENGTH / 2)
robot.stop()
front_pan_tilt.reset()
back_pan_tilt.reset ()
import robot
import time
espera = 2
robot.init()
for i in range(0, 4):
robot.forward(robot.throttle_max)
time.sleep(espera)
robot.right(robot.throttle_max)
time.sleep(espera / 2)
robot.stop()
import robot ''' We import robot. This lets us call all of the functions in robot.py. We set robot_debug to True to test our code without sending it to the robot. Set robot_debug to False when you are ready to run your code on the robot. ''' robot.robot_debug = False robot.robot_speed = 150 robot.forward(1.0) robot.forward(1.0) robot.left(1.0) robot.right(1.0) robot.blink(10) robot.forward(1.0) # # robot.robot_speed = 125 # robot.forward(3) # robot.right_rot(.7) # robot.forward(2.5) # robot.left_rot(.7) # robot.forward(5) # robot.forward(4) # robot.left_rot(.7) # robot.forward(3) # # robot.forward(3) # robot.right_rot(.7)
def run_obstacles_avoidance(robot, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar):
log(INFO, 'Starting obstacles avoidance mode')
front_pan_tilt.reset()
back_pan_tilt.reset ()
# ####################################### #
# Find direction of the farthest obstacle #
# ####################################### #
log(INFO, 'Looking for the best direction to start')
farthest_obstacle_distance, farthest_obstacle_angle = find_farthest_obstacle(PAN_ANGLE_MIN, PAN_ANGLE_MAX, OBSTACLE_FAST_SCANNING_STEP, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar)
# ############################# #
# Aim at this farthest obstacle #
# ############################# #
if farthest_obstacle_angle < 0:
robot.right_with_angle(-farthest_obstacle_angle, True)
else:
robot.left_with_angle(farthest_obstacle_angle, True)
# ############################## #
# Now start avoiding obstacles #
# ############################## #
search_direction = False
while (control.main_mode == MODE.AVOID_OBSTACLES) and (control.is_mode_aborted == False):
if search_direction == True:
robot.stop()
robot.forward_step()
# ####################################### #
# Find direction of the farthest obstacle #
# ####################################### #
log(INFO, 'Looking for the best direction to continue')
back_pan_tilt.reset()
farthest_obstacle_distance, farthest_obstacle_angle = find_farthest_obstacle(PAN_ANGLE_MIN, PAN_ANGLE_MAX, OBSTACLE_FAST_SCANNING_STEP, front_pan_tilt, front_lidar, None, None)
if farthest_obstacle_distance < AVOID_OBSTACLE_STOP_DISTANCE:
front_pan_tilt.reset()
farthest_obstacle_distance, farthest_obstacle_angle = find_farthest_obstacle(PAN_ANGLE_MIN, PAN_ANGLE_MAX, OBSTACLE_FAST_SCANNING_STEP, None, None, back_pan_tilt, back_lidar)
# ############################# #
# Aim at this farthest obstacle #
# ############################# #
if farthest_obstacle_angle < 0:
robot.right_with_angle(-farthest_obstacle_angle, True)
else:
robot.left_with_angle(farthest_obstacle_angle, True)
log(INFO, 'Aiming at the farthest obstacle')
search_direction = False
else:
# ############################# #
# Get distance of next obstacle #
# ############################# #
next_obstacle_distance = front_lidar.get_distance()
# ################################ #
# Now move forward that direction #
# ################################ #
if next_obstacle_distance < AVOID_OBSTACLE_STOP_DISTANCE:
log(INFO, 'Obstacle ahead: changing direction')
search_direction = True
else:
log(DEBUG, 'Path is clear: moving on...')
robot.forward(TARGET_SPEED_STEP / 2)
robot.stop()
front_pan_tilt.reset()
back_pan_tilt.reset ()