class RobotCat(Char):
def __init__(self):
self.FSM = FSM(self)
# States
self.FSM.addState("Sleep", Sleep(self.FSM))
self.FSM.addState("Walk", Walk(self.FSM))
self.FSM.addState("Meow", Meow(self.FSM))
# Transitions
self.FSM.addTransition("toSleep", ToSleep("Sleep"))
self.FSM.addTransition("toWalk", ToWalk("Walk"))
self.FSM.addTransition("toMeow", ToMeow("Meow"))
self.FSM.setState("Sleep")
def execute(self):
self.FSM.execute()
FLOOR_THRESHOLD = 50
def stopBeep():
stop()
beepSync(0.5)
started = False
fsm = FSM(
["free", "rotating", "aligning", "pushing", "reversing", "completed"],
"free",
failActionSilently=True,
verbose=True)
fsm.addTransition("start", "free", "free")
fsm.addTransition("seeLine", "free", "rotating")
fsm.addTransition("rotateCompleted", "rotating", "free")
fsm.addTransition("seeTrash",
"free",
"aligning",
beforeChange=lambda a, b, c: stopBeep())
fsm.addTransition("alignCompleted", "aligning", "pushing")
fsm.addTransition("seeLine",
"pushing",
"reversing",
beforeChange=lambda a, b, c: stopBeep())
fsm.addTransition("finish", "reversing", "completed")
def backupCompletedCb():
from fsm import FSM
from threading import Thread
uiQueue = Queue(maxsize=1)
endAll = False
PROX_THRESHOLD = 40
FLOOR_THRESHOLD = 50
fsm = FSM(["free", "turnLeft", "turnRight", "exit"],
"free",
failActionSilently=True,
verbose=True)
fsm.addTransition(
"obstacleLeft",
"free",
"turnLeft",
)
fsm.addTransition("obstacleRight", "free", "turnRight")
fsm.addMultipleTransitions("noObstacle", ["turnLeft", "turnRight"], "free")
fsm.addTransition("line", "free", "exit")
def freeCb():
tankDrive(50, 50)
def turnLeftCb():
tankDrive(-50, 50)
