class MyAgent(ACTR):
focus = Buffer()
body = grid.Body()
motor = MotorModule()
obstacle = ObstacleModule()
def init():
focus.set('wander')
def wandering_forward(focus='wander',
motor='busy:False',
obstacle='ahead:False'):
motor.go_forward()
def wandering_left(focus='wander',
motor='busy:False',
obstacle='left:False'):
motor.go_left()
def wandering_right(focus='wander',
motor='busy:False',
obstacle='right:False'):
motor.go_right()
def wandering_dead_end(focus='wander',
motor='busy:False',
obstacle='right:True left:True ahead:True'):
motor.go_right()
class VacuumAgent(ACTR):
goal = Buffer()
body = grid.Body()
motorInst = MotorModule()
cleanSensor = CleanSensorModule()
def init():
goal.set("rsearch left 1 0 1")
self.home = None
#----ROOMBA----#
def clean_cell(cleanSensor="dirty:True",
motorInst="busy:False",
utility=0.6):
motorInst.clean()
def forward_rsearch(goal="rsearch left ?dist ?num_turns ?curr_dist",
motorInst="busy:False",
body="ahead_cell.wall:False"):
motorInst.go_forward()
print(body.ahead_cell.wall)
curr_dist = str(int(curr_dist) - 1)
goal.set("rsearch left ?dist ?num_turns ?curr_dist")
def left_rsearch(goal="rsearch left ?dist ?num_turns 0",
motorInst="busy:False",
utility=0.1):
motorInst.turn_left(2)
num_turns = str(int(num_turns) + 1)
goal.set("rsearch left ?dist ?num_turns ?dist")
#Once the agent has turned 3 times (enough to be facing the starting direction,
#it increases the distance it travels in a straight line, causing it to spiral.
def spiral(goal="rsearch left ?dist 3 ?curr_dist",
motorInst="busy:False",
utility=0.1):
new_dist = str(int(dist) + 1)
goal.set("rsearch left ?new_dist 0 ?curr_dist")
#Once it is facing a wall, it turns a random amount between 90 and 270
#degrees, moves forward, then begins as if it was starting fresh but with
#a slightly larger spiral radius (to better get to the middle of the room).
def wall(goal="rsearch left ?dist ?num_turns ?curr_dist",
motorInst="busy:False",
utility=0.6,
body="ahead_cell.wall:True"):
rand = random.randint(2, 6)
motorInst.turn_left(rand)
motorInst.go_forward()
goal.set("rsearch left 2 0 1")
class MuddyDog(ACTR):
focus=Buffer()
body=grid.Body()
def init():
focus.set('wander')
def wandering_forward(focus='wander'):
body.go_forward()
body.cell.dirty=True
def wandering_left(focus='wander'):
body.turn_left()
def wandering_right(focus='wander'):
body.turn_right()
class VacuumAgent(ACTR):
goal = Buffer()
body = grid.Body()
motorInst = MotorModule()
cleanSensor = CleanSensorModule()
obstacle = ObstacleModule()
def init():
goal.set("rsearch left 1 0 1")
self.home = None
#----ROOMBA----#
def clean_cell(cleanSensor="dirty:True", utility=0.6):
motorInst.clean()
def forward_rsearch(goal="rsearch left ?dist ?num_turns ?curr_dist",
motorInst="busy:False",
body="ahead_cell.wall:False"):
motorInst.go_forward(
int(num_turns)
) #go further as the number of turn increases to make a spiral pattern
print(body.ahead_cell.wall)
curr_dist = str(int(curr_dist) - 1)
goal.set("rsearch left ?dist ?num_turns ?curr_dist")
def left_rsearch(
goal="rsearch left ?dist ?num_turns 0",
motorInst="busy:False",
utility=0.1
): #change direction when it finishes part of the spiral pattern
motorInst.turn_left(2) #turn left 90 degrees
num_turns = str(int(num_turns) + 1) #increase number of turns
goal.set("rsearch left ?dist ?num_turns ?dist"
) #set the number of spaces to go
def wall_rsearch(goal="rsearch left ?dist ?num_turns ?curr_dist",
obstacle="ahead:True",
utility=0.6): #bounce when it hits the wall
motorInst.go_left(3) #wall tracing
goal.set(
"rsearch left 1 2 1"
) #set number of turns larger than 0 to keep it away from wall
def wall2_rsearch(goal="rsearch left ?dist ?num_turns ?curr_dist",
obstacle="ahead:True",
utility=0.6): #bounce when it hits the wall
motorInst.go_left(5) #wall tracing with different distance
goal.set("rsearch left 1 1 1"
) #use different parameters to prevent circling in same area
class MyAgent(ACTR):
focus=Buffer()
body=grid.Body()
motor=MotorModule()
def init():
focus.set('wander')
def wandering_forward(focus='wander',motor='busy:False'):
motor.go_forward()
def wandering_left(focus='wander',motor='busy:False'):
motor.go_left()
def wandering_right(focus='wander',motor='busy:False'):
motor.go_right()
class MyAgent(ACTR):
focus = Buffer()
body = grid.Body()
motor = MotorModule()
obstacle = ObstacleModule()
visual = Buffer()
vision = Memory(visual)
visionScanner = grid.VisionScanner(body, vision)
def init():
focus.set('wander')
visual.clear()
def wandering_forward(focus='wander',
motor='busy:False',
obstacle='ahead:False'):
motor.go_forward()
def wandering_left(focus='wander',
motor='busy:False',
obstacle='left:False'):
motor.go_left()
def wandering_right(focus='wander',
motor='busy:False',
obstacle='right:False'):
motor.go_right()
def wandering_dead_end(focus='wander',
motor='busy:False',
obstacle='right:True left:True ahead:True'):
motor.go_right()
def look_for_dirt(focus='wander', vision='busy:False', visual=None):
vision.request('dirty:True')
def found_dirt(focus='wander', visual='dirty:True x:?x y:?y'):
focus.set('go to ?x ?y')
visual.clear()
def go_to_location(focus='go to ?x ?y', motor='busy:False'):
motor.go_towards(x, y)
def arrived(focus='go to ?x ?y', body='x:?x y:?y'):
motor.clean()
focus.set('wander')
class MyAgent(ACTR):
focus=Buffer()
body=grid.Body()
def init():
focus.set('wander')
def wandering_forward(focus='wander'):
body.go_forward()
def wandering_left(focus='wander'):
body.turn_left()
body.go_forward()
def wandering_right(focus='wander'):
body.turn_right()
body.go_forward()