def main():
#--------------------------------------OBSTACLE-SETUP---------------------------------#
obstacles = [(-100, 0), (-90, 0), (-90, 150), (-100, 150),
(100, 0), (90, 0), (90, 150), (100, 150), (40, 50), (-40, 50),
(-40, 80), (40, 80)]
newObstacles = formatObstacles(obstacles)
#---------------------------------------GET-POSITION----------------------------------#
robotPos = (0, 0)
#---------------------------------------HISTORY STUFF---------------------------------#
# Just for printing out at the end
sensedPointsHist = []
path = []
controller = RobotController()
#---------------------------------------ACTION LOOP---------------------------------#
for i in range(1):
# Get action
action = controller.getAction()
path.append(controller.getCurrentPosition())
# Get scan of surroundings every 15 degrees
detectedPoints = getDetectedPoints(controller.getCurrentPosition(),
newObstacles, 15)
controller.updateSurroundings(detectedPoints)
sensedPointsHist += detectedPoints
drawSimulation(obstacles, path, sensedPointsHist)
def main():
controller = RobotController()
controller.updateSurroundings([(10, 180)])
controller.updatePosition(5, 0)
controller.updateVisited([(5, 0)])
print(str(controller.polarToCartesian(1, pi / 2)))
print(controller)
