def __init__(self, port): self.zoom = 1 self.disp = Display(self.zoom) #robot displays by default at 100 pixels square. #read robot is approx 26cm square #multiply default scaled distances by scale to get cm #internally the model works in default scaled pixels. But it returns #cm on the UI and TCP interfaces. self.scale = 26.0 / 100 timenow = time.time() self.robot = RobotModel(self.disp, 100, self.scale, timenow) self.world = WorldModel(self.disp, self.robot, timenow) self.world.add_default_walls() if (port != 0): self.controller = Controller(port, self.robot, 1) else: self.controller = Controller(55443, self.robot, 0) self.robot.set_controller(self.controller) self.robot.init_robot_posn(500, 350, 0) self.robot.set_ir_angles(0, 0) self.robot.stop() self.active = True