def trackTest():
ZumoButton().wait_for_press()
motor = Motors()
ultra = Ultrasonic()
camera = Camera()
stuck = CheckStuck()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([ultra, camera])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
b = TrackObject(priority=1, sensobs=[sensob])
bbcon.set_checkStucker(stuck)
bbcon.add_behavior(b)
bbcon.activate_behavior(0)
bbcon.add_sensob(sensob)
timesteps = 0
while timesteps < 25:
bbcon.run_one_timestep()
timesteps += 1
def lineTest():
reflect = ReflectanceSensors()
ZumoButton().wait_for_press()
motor = Motors()
stuck = CheckStuck()
camera = Camera()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([reflect])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
bbcon.add_sensob(sensob)
bbcon.set_checkStucker(stuck)
b = LineFollow(1, [sensob])
bbcon.add_behavior(b)
timesteps = 0
while timesteps < 30:
bbcon.run_one_timestep()
timesteps += 1
def startup(self):
# add sensor objects
cam = Sensob(Camera())
ultrasonic = Sensob(Ultrasonic())
ir_sensor = Sensob(ReflectanceSensors())
self.add_sensob(cam)
self.add_sensob(ultrasonic)
self.add_sensob(ir_sensor)
# add behaviors
sb = StandardBehavior(self)
self.add_behavior(sb)
self.activate_behavior(sb)
cb = CameraBehavior(self)
self.add_behavior(cb)
self.activate_behavior(cb)
ub = UltraBehavior(self)
self.add_behavior(ub)
self.activate_behavior(ub)
ir = IRBehavior(self)
self.add_behavior(ir)
self.activate_behavior(ir)
button = ZumoButton()
button.wait_for_press()
self._running = True
while self._running:
self.run_one_timestep()
# wait
time.sleep(0.001)
def main():
# initialisering
ZumoButton().wait_for_press()
bbcon = BBCON()
us = Ultrasonic()
ir_sensob = Sensob(
ReflectanceSensors(True)) # True betyr med auto-kalibrering
usonic_sensob = Sensob(us)
camera_sensob = Sensob(sensor=Camera(), sensor2=us)
avoid_borders = Avoid_borders(ir_sensob, bbcon)
walk_randomly = Walk_randomly(None, bbcon)
clean = Clean(usonic_sensob, bbcon)
approach = Approach(usonic_sensob, bbcon)
take_photo = Take_photo(camera_sensob, bbcon)
# setup
bbcon.add_sensob(ir_sensob) # legger til IR sensob
bbcon.add_sensob(usonic_sensob) # legger til Ultrasonic sensob
#bbcon.add_sensob(camera_sensob) # legger til Ultrasonic/camera sensob
bbcon.add_behavior(avoid_borders) # legger til avoid_borders
bbcon.add_behavior(walk_randomly) # legger til walk_randomly
#bbcon.add_behavior(clean) # legger til clean
bbcon.add_behavior(approach) # legger til approach
bbcon.add_behavior(take_photo) # legger til take_photo
bbcon.activate_behavior(avoid_borders)
bbcon.activate_behavior(walk_randomly)
bbcon.activate_behavior(approach)
#bbcon.activate_behavior(take_photo)
while True:
bbcon.run_one_timestep()
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 init_bbcon(bbcon):
reflectance_sensob = Sensob(ReflectanceSensors())
camera_sensob = Sensob(Camera())
ultrasonic = Sensob(Ultrasonic())
bbcon.add_sensob(reflectance_sensob)
bbcon.add_sensob(camera_sensob)
bbcon.add_sensob(ultrasonic)
take_picture = TakePicture(bbcon)
collision_avoidance = CollisionAvoidance(bbcon)
image_behavior = ImageBehavior(bbcon)
bbcon.add_behavior(take_picture)
bbcon.add_behavior(collision_avoidance)
bbcon.add_behavior(image_behavior)
def __init__(self):
""" init """
self.sensobs = []
self.add_sensob(Sensob(Ultrasonic()))
self.add_sensob(Sensob(ReflectanceSensors()))
self.add_sensob(Sensob(Camera()))
self.motob = Motob()
self.behaviors = []
self.add_behavior(Behavior(self, [10000, 10000, [10000, 10000, 10000]], "drive", 1))
self.add_behavior(Behavior(self, [30, 10000, [10000, 10000, 10000]], "stop", 3))
self.add_behavior(Behavior(self, [10000, 0.3, [10000, 10000, 10000]], "turnaround", 2))
self.add_behavior(Behavior(self, [10000, 10000, [210, 10000, 10000]], "turn_left", 5))
#self.add_behavior(Behavior(self, [10000, 10000, [10000, 200, 10000]], "turn_right", 4))
self.active_behaviors = []
self.arbitrator = Arbitrator()
def take_photo():
c = Camera()
s = Sensob(c)
tf = Take_photo(s, s)
print(tf.active_flag)
tf.set_active()
print(tf.active_flag)
tf.update()
print(tf.active_flag)
def main():
#pdb.set_trace()
ZumoButton().wait_for_press()
bbcon = BBCON()
# Sensors:
reflectance_sensor = ReflectanceSensors()
ultrasonic_sensor = Ultrasonic()
camera_sensor = Camera()
# Sensobs
reflectance_sensob = Sensob(reflectance_sensor)
ultrasonic_sensob = Sensob(ultrasonic_sensor)
camera_sensob = Sensob(camera_sensor)
trackline_sensobs = reflectance_sensob
distance_adjust_sensobs = ultrasonic_sensob
follow_red_sensobs = camera_sensob
# Add to bbcon:
# Add sensobs
bbcon.add_sensob(trackline_sensobs)
bbcon.add_sensob(distance_adjust_sensobs)
bbcon.add_sensob(follow_red_sensobs)
# Add motobs:
bbcon.motobs = Motob()
# Add behaviors
bbcon.add_behavior(TrackLine(bbcon, trackline_sensobs))
bbcon.add_behavior(DistanceAdjust(bbcon, distance_adjust_sensobs))
bbcon.add_behavior(FollowRed(bbcon, follow_red_sensobs))
# Set all behaviors to active at start; disable if not needed
for behavior in bbcon.behaviors:
bbcon.activate_behavior(behavior)
# Run as long as robot is not halted
# not bbcon.halt_request
#pdb.set_trace()
while True:
bbcon.run_one_timestep()
def reflectTest():
#motor = Motors()
#motob = Motob(motor=motor)
reflect = ReflectanceSensors()
sensob = Sensob()
sensob.set_sensors([reflect])
ZumoButton().wait_for_press()
count = 0
while count < 10:
sensob.update()
print(sensob.get_values())
count += 1
time.sleep(2.5)
def rett_fram():
ir = ReflectanceSensors(True)
s = Sensob(ir)
ab = Avoid_borders(s, s)
wr = Walk_randomly(s, s)
a = Arbitrator()
m = Motob()
print("Motob set")
ZumoButton().wait_for_press()
print("Button pressed")
while True:
ab.update()
wr.update()
print("Vekt: ", ab.weight)
print("Rec: ", ab.motor_recommendations)
winner_rec = a.choose_action(ab, wr)
print("recom: ", winner_rec)
m.update(winner_rec)
def test5():
ZumoButton().wait_for_press()
m = Motors()
motob = Motob(m)
sensor = Ultrasonic()
sensob = Sensob()
sensob.set_sensors([sensor])
behavior = CollisionAvoidance(1, [sensob])
print("Behavior sensob:", behavior.sensobs)
count = 0
while True:
sensob.update()
behavior.update()
#print("MR:", behavior.get_sensob_data())
motob.update(behavior.motor_recommendations[0])
count +=1
if count==12:
break
def test4():
sensor = ReflectanceSensors()
ZumoButton().wait_for_press()
m = Motors()
motob = Motob(m)
sensob = Sensob()
sensob.set_sensors([sensor])
print(sensor.get_value())
behavior = FollowLine(1, [sensob])
#print("Behavior sensob:", behavior.sensobs)
count = 0
while True:
sensob.update()
behavior.update()
print("MR:", behavior.motor_recommendations)
motob.update(behavior.motor_recommendations[0])
count += 1
#time.sleep(3)
if count == 15:
break
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 __init__(self):
self.bilde = None
self.value = [0,0,0,0,0] #Makes the list with red pixels
Sensob.__init__(self,[Camera()]) #Super-constructor with the camera-sensor.
def reset(self):
Sensob.reset(self)
self.value = [0,0,0,0,0]
def __init__(self):
Sensob.__init__(self, [Ultrasonic()])
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)