def __init__(self,engine,posinit, orientation): if (orientation == "vert"): # | points_feu = map(lambda p: mm_to_px(*p),[(0,0),(30,0),(30,140),(0,140)]) points_triangle = map(lambda p: mm_to_px(*p),[(0,0),(70,55),(0,140)]) offset_triangle = mm_to_px(15,-70) else: # --- points_feu = map(lambda p: mm_to_px(*p),[(0,0),(140,0),(140,30),(0,30)]) points_triangle = map(lambda p: mm_to_px(*p),[(0,0),(55,70),(140,0)]) offset_triangle = mm_to_px(-70,15) EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_FEU, posinit = posinit, mass = 80, poly_points = points_feu ) self.triangle = EngineObjectPoly( engine = engine, colltype = COLLTYPE_FEU, offset = offset_triangle, color = "purple", poly_points = points_triangle, is_extension= True ) self.__is_down = False self.coucher_feu()
def __init__(self, *, engine, team, posinit, mass, poly_points, typerobot, extension_objects=[], colltype): color = 'yellow' if team == YELLOW else 'red' EngineObjectPoly.__init__(self, engine = engine, mass = mass, posinit = posinit, color = color, colltype = colltype, poly_points = poly_points, extension_objects = extension_objects ) #données d'état du robot self.__typerobot = typerobot self.__team = team self.__goals = [] self.__asserv = Asserv(self) self.__others = Others(self) #données du robot utiles au simulateur self.__mod_teleport = False # quand on clique ça téléporte au lieu d'envoyer un ordre à l'asservissement self.__mod_recul = False # marche arrière ou marche avant ? self.__max_speed = 1000 # vitesse maximale (quand pwm=255) self.__stop = False #utilité ? self.__current_team = RED self.__current_robot = BIG self.body._set_velocity_func(self._my_velocity_func())
def __init__(self,engine,posinit,color): EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_CADEAU, posinit = posinit, mass = MASS_INF, color = color, poly_points = map(lambda p: mm_to_px(*p),[(0,0),(150,0),(150,22),(0,22)]) )
def __init__(self,engine,posinit): EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_CERISE, posinit = posinit, color = "purple", mass = 380, poly_points = map(lambda p: mm_to_px(*p),[(0,0),(170,0),(170,170),(0,170)]) )
def __init__(self,engine,posinit,color): EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_BAC, posinit = posinit, mass = MASS_INF, color = color, poly_points = map(lambda p: mm_to_px(*p),[(0,0),(700,0),(700,300-25),(0,300-25)]) ) self.nbFruit = 0
def __init__(self,engine,posinit): EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_FRESQUE, posinit = posinit, color = "white", mass = MASS_INF, poly_points = map(lambda p: mm_to_px(*p),[(0,0),(600,0),(600,22),(0,22)]) ) self.objetsNous = 0 self.objetsEnnemy = 0
def __init__(self,engine,posinit): EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_MAMMOUTH, posinit = posinit, color = "brown", mass = MASS_INF, poly_points = map(lambda p: mm_to_px(*p),[(0,0),(700,0),(700,25),(0,25)]) ) self.lance = 0 self.filet = 0
def __init__(self, engine, posinit, color):
EngineObjectPoly.__init__(self,
engine=engine,
colltype=COLLTYPE_BAC,
posinit=posinit,
mass=MASS_INF,
color=color,
poly_points=map(lambda p: mm_to_px(*p),
[(0, 0), (700, 0),
(700, 300 - 25),
(0, 300 - 25)]))
self.nbFruit = 0
def __init__(self, engine, posinit):
EngineObjectPoly.__init__(self,
engine=engine,
colltype=COLLTYPE_FRESQUE,
posinit=posinit,
color="white",
mass=MASS_INF,
poly_points=map(lambda p: mm_to_px(*p),
[(0, 0), (600, 0), (600, 22),
(0, 22)]))
self.objetsNous = 0
self.objetsEnnemy = 0
def __init__(self, engine, posinit):
EngineObjectPoly.__init__(self,
engine=engine,
colltype=COLLTYPE_MAMMOUTH,
posinit=posinit,
color="brown",
mass=MASS_INF,
poly_points=map(lambda p: mm_to_px(*p),
[(0, 0), (700, 0), (700, 25),
(0, 25)]))
self.lance = 0
self.filet = 0
def __init__(self,engine,posinit, orientation): if (orientation == "droite"): points = map(lambda p: mm_to_px(*p),[(0,0),(75,20),(130,75),(150,150),(130,225),(75,280),(0,300)]) elif(orientation == "gauche"): points = map(lambda p: mm_to_px(*p),[(0,300),(-75,280),(-130,225),(-150,150),(-130,75),(-75,20),(0,0)]) else: points = map(lambda p: mm_to_px(*p),[(0,0),(20,-75),(75,-130),(150,-150),(225,-130),(280,-75),(300,0)]) EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_ARBRE, posinit = posinit, color = "green", mass = MASS_INF, poly_points = points )
def __init__(self,engine,posinit,position): if (position == "droite"): points = map(lambda p: mm_to_px(*p),[(0,0),(-250,-0),(-241,-65),(-217,-125),(-177,-177),(-125,-217),(-65,-241),(-0,-250)]) elif(position == "gauche"): points = map(lambda p: mm_to_px(*p),[(0,0),(250,0),(241,-65),(217,-125),(177,-177),(125,-217),(65,-241),(0,-250)]) EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_FOYER, posinit = posinit, color = "brown", mass = MASS_INF, poly_points = points, layers = 1 ) self.__nbFeu = 0
def __init__(self,
*,
engine,
team,
posinit,
mass,
poly_points,
typerobot,
extension_objects=[],
colltype):
color = 'yellow' if team == YELLOW else 'red'
EngineObjectPoly.__init__(self,
engine=engine,
mass=mass,
posinit=posinit,
color=color,
colltype=colltype,
poly_points=poly_points,
extension_objects=extension_objects)
#données d'état du robot
self.__typerobot = typerobot #BIG ou MINI
self.__team = team #RED ou YELLOW
self.__goals = []
self.__asserv = Asserv(self)
self._visio = Visio(self)
self.__others = Others(self)
self.__stack_orders = [] #pile d'ordres historique
#données du robot utiles au simulateur
self.__mod_teleport = False # quand on clique ça téléporte au lieu d'envoyer un ordre à l'asservissement
self.__mod_recul = False # marche arrière ou marche avant ?
self.__max_speed = 1000 # vitesse maximale (quand pwm=255)
self.__stop = False
#décompte du temps pour avoir le timestamp
self.__get_milli = lambda: int(round(time.time() * 1000))
self.__time_stamp = self.__get_milli()
self.__time_stamp_origine = self.__get_milli()
self.__state_jack = 1 # jack in
self.__asserv_blocked = 0 #passage à 1 si l'asserv est bloqué
#!!! ne pas modifier ces variables, elles sont utilisés pour l'interaction avec l'utilisateur !
self.__current_team = RED
self.__current_robot = BIG
self.body._set_velocity_func(
self._my_velocity_func()) #voir plus bas pour le détail
def __init__(self, engine, posinit, position):
if (position == "droite"):
points = map(lambda p: mm_to_px(*p), [(0, 0), (-250, -0),
(-241, -65), (-217, -125),
(-177, -177), (-125, -217),
(-65, -241), (-0, -250)])
elif (position == "gauche"):
points = map(lambda p: mm_to_px(*p), [(0, 0), (250, 0), (241, -65),
(217, -125), (177, -177),
(125, -217), (65, -241),
(0, -250)])
EngineObjectPoly.__init__(self,
engine=engine,
colltype=COLLTYPE_FOYER,
posinit=posinit,
color="brown",
mass=MASS_INF,
poly_points=points,
layers=1)
self.__nbFeu = 0
def __init__(self, *, engine, team, posinit, mass, poly_points, typerobot, extension_objects=[], colltype): color = 'yellow' if team == YELLOW else 'red' EngineObjectPoly.__init__(self, engine = engine, mass = mass, posinit = posinit, color = color, colltype = colltype, poly_points = poly_points, extension_objects = extension_objects ) #données d'état du robot self.__typerobot = typerobot #BIG ou MINI self.__team = team #RED ou YELLOW self.__goals = [] self.__asserv = Asserv(self) self._visio = Visio(self) self.__others = Others(self) self.__stack_orders = [] #pile d'ordres historique #données du robot utiles au simulateur self.__mod_teleport = False # quand on clique ça téléporte au lieu d'envoyer un ordre à l'asservissement self.__mod_recul = False # marche arrière ou marche avant ? self.__max_speed = 1000 # vitesse maximale (quand pwm=255) self.__stop = False #décompte du temps pour avoir le timestamp self.__get_milli = lambda: int(round(time.time() * 1000)) self.__time_stamp = self.__get_milli() self.__time_stamp_origine = self.__get_milli() self.__state_jack = 1 # jack in self.__asserv_blocked = 0 #passage à 1 si l'asserv est bloqué #!!! ne pas modifier ces variables, elles sont utilisés pour l'interaction avec l'utilisateur ! self.__current_team = RED self.__current_robot = BIG self.body._set_velocity_func(self._my_velocity_func()) #voir plus bas pour le détail
def __init__(self, engine, posinit, orientation):
if (orientation == "droite"):
points = map(lambda p: mm_to_px(*p), [(0, 0), (75, 20), (130, 75),
(150, 150), (130, 225),
(75, 280), (0, 300)])
elif (orientation == "gauche"):
points = map(lambda p: mm_to_px(*p), [(0, 300), (-75, 280),
(-130, 225), (-150, 150),
(-130, 75), (-75, 20),
(0, 0)])
else:
points = map(lambda p: mm_to_px(*p), [(0, 0), (20, -75),
(75, -130), (150, -150),
(225, -130), (280, -75),
(300, 0)])
EngineObjectPoly.__init__(self,
engine=engine,
colltype=COLLTYPE_ARBRE,
posinit=posinit,
color="green",
mass=MASS_INF,
poly_points=points)
def __init__(self,engine,posinit, orientation, sens, coucher = False): if (orientation == "vert"): # | points_feu = map(lambda p: mm_to_px(*p),[(0,0),(30,0),(30,140),(0,140)]) points_triangle_rd = map(lambda p: mm_to_px(*p),[(0,0),(70,55),(0,140)]) offset_triangle_rd = mm_to_px(15,-70) points_triangle_yg = map(lambda p: mm_to_px(*p),[(0,0),(70,55),(0,140)]) offset_triangle_yg = mm_to_px(15,-70) points_triangle_rg = map(lambda p: mm_to_px(*p),[(0,0),(-70,55),(0,140)]) offset_triangle_rg = mm_to_px(-15,-70) points_triangle_yd = map(lambda p: mm_to_px(*p),[(0,0),(-70,55),(0,140)]) offset_triangle_yd = mm_to_px(-15,-70) else: # --- points_feu = map(lambda p: mm_to_px(*p),[(0,0),(140,0),(140,30),(0,30)]) points_triangle_rd = map(lambda p: mm_to_px(*p),[(0,0),(55,70),(140,0)]) offset_triangle_rd = mm_to_px(-70,15) points_triangle_yg = map(lambda p: mm_to_px(*p),[(0,0),(55,70),(140,0)]) offset_triangle_yg = mm_to_px(-70,15) points_triangle_rg = map(lambda p: mm_to_px(*p),[(0,0),(55,-70),(140,0)]) offset_triangle_rg = mm_to_px(-70,-15) points_triangle_yd = map(lambda p: mm_to_px(*p),[(0,0),(55,-70),(140,0)]) offset_triangle_yd = mm_to_px(-70,-15) EngineObjectPoly.__init__(self, engine = engine, colltype = COLLTYPE_FEU, posinit = posinit, mass = 80, poly_points = points_feu, layers = 2 ) #on a 4 extensions car 2 couleurs qui peuvent être des 2 côtés du triangle. self.triangleRedDroite = EngineObjectPoly( engine = engine, colltype = COLLTYPE_FEU, offset = offset_triangle_rd, color = "red", poly_points = points_triangle_rd, layers = 2, is_extension= True ) self.triangleYellowGauche = EngineObjectPoly( engine = engine, colltype = COLLTYPE_FEU, offset = offset_triangle_yd, color = "yellow", poly_points = points_triangle_yd, layers = 2, is_extension= True ) self.triangleRedGauche= EngineObjectPoly( engine = engine, colltype = COLLTYPE_FEU, offset = offset_triangle_rg, color = "red", poly_points = points_triangle_rg, layers = 2, is_extension= True ) self.triangleYellowDroite = EngineObjectPoly( engine = engine, colltype = COLLTYPE_FEU, offset = offset_triangle_yg, color = "yellow", poly_points = points_triangle_yg, layers = 2, is_extension= True ) self.orientation = orientation if (sens == 'r'): self.__coucher_a_gauche = 'y' self.__coucher_a_droite = 'r' else: self.__coucher_a_gauche = 'r' self.__coucher_a_droite = 'y' self.__is_down = False self.__extension_down = None #variable qui stock l'extension utilisée pour coucher le feu self.__eteindre_flag = False
def __init__(self, engine, posinit, orientation, sens, coucher=False):
if (orientation == "vert"): # |
points_feu = map(lambda p: mm_to_px(*p), [(0, 0), (30, 0),
(30, 140), (0, 140)])
points_triangle_rd = map(lambda p: mm_to_px(*p), [(0, 0), (70, 55),
(0, 140)])
offset_triangle_rd = mm_to_px(15, -70)
points_triangle_yg = map(lambda p: mm_to_px(*p), [(0, 0), (70, 55),
(0, 140)])
offset_triangle_yg = mm_to_px(15, -70)
points_triangle_rg = map(lambda p: mm_to_px(*p), [(0, 0),
(-70, 55),
(0, 140)])
offset_triangle_rg = mm_to_px(-15, -70)
points_triangle_yd = map(lambda p: mm_to_px(*p), [(0, 0),
(-70, 55),
(0, 140)])
offset_triangle_yd = mm_to_px(-15, -70)
else: # ---
points_feu = map(lambda p: mm_to_px(*p), [(0, 0), (140, 0),
(140, 30), (0, 30)])
points_triangle_rd = map(lambda p: mm_to_px(*p), [(0, 0), (55, 70),
(140, 0)])
offset_triangle_rd = mm_to_px(-70, 15)
points_triangle_yg = map(lambda p: mm_to_px(*p), [(0, 0), (55, 70),
(140, 0)])
offset_triangle_yg = mm_to_px(-70, 15)
points_triangle_rg = map(lambda p: mm_to_px(*p), [(0, 0),
(55, -70),
(140, 0)])
offset_triangle_rg = mm_to_px(-70, -15)
points_triangle_yd = map(lambda p: mm_to_px(*p), [(0, 0),
(55, -70),
(140, 0)])
offset_triangle_yd = mm_to_px(-70, -15)
EngineObjectPoly.__init__(self,
engine=engine,
colltype=COLLTYPE_FEU,
posinit=posinit,
mass=80,
poly_points=points_feu,
layers=2)
#on a 4 extensions car 2 couleurs qui peuvent être des 2 côtés du triangle.
self.triangleRedDroite = EngineObjectPoly(
engine=engine,
colltype=COLLTYPE_FEU,
offset=offset_triangle_rd,
color="red",
poly_points=points_triangle_rd,
layers=2,
is_extension=True)
self.triangleYellowGauche = EngineObjectPoly(
engine=engine,
colltype=COLLTYPE_FEU,
offset=offset_triangle_yd,
color="yellow",
poly_points=points_triangle_yd,
layers=2,
is_extension=True)
self.triangleRedGauche = EngineObjectPoly(
engine=engine,
colltype=COLLTYPE_FEU,
offset=offset_triangle_rg,
color="red",
poly_points=points_triangle_rg,
layers=2,
is_extension=True)
self.triangleYellowDroite = EngineObjectPoly(
engine=engine,
colltype=COLLTYPE_FEU,
offset=offset_triangle_yg,
color="yellow",
poly_points=points_triangle_yg,
layers=2,
is_extension=True)
self.orientation = orientation
if (sens == 'r'):
self.__coucher_a_gauche = 'y'
self.__coucher_a_droite = 'r'
else:
self.__coucher_a_gauche = 'r'
self.__coucher_a_droite = 'y'
self.__is_down = False
self.__extension_down = None #variable qui stock l'extension utilisée pour coucher le feu
self.__eteindre_flag = False