def __init__(self, addr):
#Chassis values
self.g = graph.Graph()
self.addr = addr
self.r = robot()
self.r.connect(self.addr)
self.pose = [0,0,0] #X,Y, Theta
self.lspeed = 98
self.rspeed = 100
self.distance_travelled = 0
#Sensor access constants
self.LEFT = -1
self.CENTER = 0
self.RIGHT = 1
self.SLEFT = 180
self.SRIGHT = 0
#Sensor variables
self.destinations = (self.LEFT, self.CENTER, self.RIGHT)
self.sensors = {self.LEFT:0, self.CENTER:0, self.RIGHT:0}
self.encoders = {self.LEFT:0, self.RIGHT:0}
self.junctions = {self.LEFT: False, self.CENTER: False, self.RIGHT: False}
self.GraphSLAMDone = False
print "A.I. loaded."
def connect():
global r
address = "localhost"
if len(sys.argv) == 2:
address = "robo-wifi" + sys.argv[1] + ".csd.abdn.ac.uk"
r = robot()
r.connect(address)
def connect():
global r
address = "localhost"
if len(sys.argv) == 2:
address = "robo-wifi"+sys.argv[1]+".csd.abdn.ac.uk"
r = robot()
r.connect(address)
#print sensors[15]
turn_by(360,1,r)
#print get_ranger_distance(-1)
#print get_ranger_distance(0)
#print get_ranger_distance(1)
#while(True):
# sensors = sensor_values()
# go_straight(10)
#calibrate()
#r.setPT(90, 90) #this sets the pan/tilt head to 90 90 (pan,tilt)
#sensor_values = r.get_sensors()
#while(len(sensor_values) > 0):
# sensor_values = r.get_sensors()
# print sensor_values
# if(sensor_values[14] < 400):
# move(100, 0.5, 100, 0.5)
# else:
# move()
# time.sleep(0.5)
if __name__ == "__main__":
address = "localhost"
if len(sys.argv) == 2:
address = "robo-wifi"+sys.argv[1]+".csd.abdn.ac.uk"
r = robot()
r.connect(address)
main()
r.disconnect()
