def test_analzyer_on_field_model():
"""
Create a model of the field, then ask the laser to compute
the range for sweep. Then move the robot and ask again.
"""
robot = Robot()
field = FieldModel()
tower_range = field.tower_range_from_origin()
rotation = FakeRotation(field, robot)
heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-10,11))
# closest point should be dead ahead
assert heading == 0
assert sweep_range == tower_range
movement = 100
robot.move(movement)
rotation = FakeRotation(field, robot)
heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-10,11))
# closest point should be dead ahead
assert heading == 0
assert sweep_range == (tower_range - movement)
print("Robot is at ({:f}, {:f} turned {:d} degrees".format(x, y, r.heading))
elif cmd == "s":
update_all_results(lidar_viewer, field_model, robot, factor)
elif cmd == "r":
try:
cmd,cmd_arg = text.split(" ")
factor = int(cmd_arg)
update_all_results(lidar_viewer, field_model, robot, factor)
except ValueError:
print "Please specify distance in whole inches."
elif cmd == "m":
try:
cmd,cmd_arg = text.split(" ")
distance = int(cmd_arg)
robot.move(distance)
update_all_results(lidar_viewer, field_model, robot, factor)
except ValueError:
print "Please specify distance in whole inches."
elif cmd == "t":
try:
cmd,cmd_arg = text.split(" ")
heading = int(cmd_arg)
robot.turn(heading)
update_all_results(lidar_viewer, field_model, robot, factor)
except ValueError:
print "Please specify turn in whole degrees."
elif cmd == "w":
lidar_viewer.write_to_file("Lidar.dat", rotation.polar_data())
elif cmd == "h":
