Example #1
0
def main():
	R = systemetric.Robot()
	m = Map(arena=CompetitionArenaMap())
	mr = MapRenderer(m)
	mr.startInNewWindow()

	while True:
		with Timer("Profiling") as t:
	 		with t.event("see"):       see = R.see()
			with t.event("processed"): processed = see.processed()
			with t.event("update"):    m.updateEntities(processed)

	m.fakeUpdateEntities(
		tokens={2: Point2(1, 1), 12: Point2(0.5, 1.75), 0: Point2(3, 1.25)},
		transform=Matrix3.new_translate(2, 2.5).rotate(math.pi/3)
	)

	time.sleep(2)

	m.fakeUpdateEntities(
		tokens={2: Point2(1.5, 1.75), 13: Point2(0.5, 0.75), 5: Point2(3.5, 2.25)},
		transform=Matrix3.new_translate(4, 2.5).rotate(math.pi*2/3)
	)
Example #2
0
def main():
	def grabCube():
		R.power.beep(440, 1)
		time.sleep(1)
		R.power.beep(880, 1)
		time.sleep(1)
		R.power.beep(440, 1)
		time.sleep(1)

	def driveTowards(relativeLocation, token):
		"""Drive at most 1 meter towards a cube. Return True if the cube was reached"""
		R.turnToFace(relativeLocation)
		distance = abs(relativeLocation)

		ROBOT_SIZE = 0.2

		if distance < ROBOT_SIZE:
			print "Found %s" % token
			return True

		elif distance > 1 + ROBOT_SIZE:
			print "More than 1m from %s" % token
			R.driveDistance(1)
			return False
		else:
			print "Less than 1m from %s" % token
			R.driveDistance(distance - ROBOT_SIZE + 0.05)
			return False

	gameMap = Map(arena=S007ArenaMap())

	R = systemetric.Robot()
	startTime = time.time()

	while True:
		print
		print time.time() - startTime
		vision = R.see().processed()

		gameMap.updateEntities(vision)

		if gameMap.robot:
			print "Robot at", gameMap.robot.location
			
			distanceTo = {}

			knownTokens = filter(lambda i: i.exists, gameMap.tokens)
			print gameMap.tokens

			if knownTokens:
				for entity in knownTokens:
					distanceTo[entity] = entity.position - gameMap.robot.location

				nearestToken = min(distanceTo, key = lambda e: abs(distanceTo[e]))

				print "Nearest marker is #%s at %s" % (nearestToken.id, nearestToken.position)

				vectorToCube = gameMap.robot.transform.inverse() * distanceTo[nearestToken]

				gotCube = driveTowards(vectorToCube, nearestToken)
				if gotCube:
					grabCube()
					nearestToken.invalidate()
				else:
					gameMap.invalidateRobotPosition()
			else:
				print "No tokens found"
				print "Spin on spot"
				#no tokens yet!
				R.rotateBy(40)
				R.stop()
		else:
			print "I'm lost!"
			print "Spin on spot"
			#no tokens yet, and I'm lost!
			R.rotateBy(40)
			R.stop()
			
		time.sleep(0.25)