def car():
op = request.form['op']
if not op:
return jsonify(status='400', mesg='no op.')
else:
move(op)
return jsonify(status='200', mesg=op)
def main():
z = board()
m = move((e,2),(e,4))#move pawn
z.makeMove(m)
m = move((c,7),(c,5))# move pawn
z.makeMove(m)
print z.gameState()
def move_and_add(): move() i = 0 while i < 3: if global_variables.place_holder[i] > 0: if global_variables.place_holder[i] == global_variables.place_holder[i + 1]: global_variables.place_holder[i] += global_variables.place_holder[i + 1] global_variables.score += global_variables.place_holder[i] global_variables.place_holder[i + 1] = 0 i += 2 else: i += 1 elif global_variables.place_holder[i] == 0: i +=2 move()
def keepDisProcessing(self):
print('keepDistanceProcessing')
distanceGet = ultra.checkdist()
if distanceGet > (self.rangeKeep/2+0.1):
move.move(100, 'forward', 'no', 0.5)
elif distanceGet < (self.rangeKeep/2-0.1):
move.move(100, 'forward', 'no', 0.5)
else:
move.motorStop()
def run(self):
print("Start FPV thread：" + self.name)
step = 1
while 1:
# print(self.moving,":",self.speed, ":", self.command)
if self.moving:
move.move(step, self.speed, self.command)
step += 1
if step > 4:
step = 1
time.sleep(0.08)
print("退出线程：" + self.name)
def main():
#write the main function here that calls a forward kinematic function
#input taken from user for 7 joint angles
theta1 = float(input('Please enter a value joint 1 \n'))
theta2 = float(input('Please enter a value joint 2 \n'))
theta3 = float(input('Please enter a value joint 3 \n'))
theta4 = float(input('Please enter a value joint 4 \n'))
theta5 = float(input('Please enter a value joint 5 \n'))
theta6 = float(input('Please enter a value joint 6 \n'))
theta7 = float(input('Please enter a value joint 7 \n'))
#compute the final pose using these 7 joint values
T_1in0 = forward_kin(theta1, theta2, theta3, theta4, theta5, theta6,
theta7)
#get the vrep clientID to communicate with vrep
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
if clientID == -1:
raise Exception('Failed connecting to remote API server')
#get the object handle for the dummy object
result, dummy = vrep.simxGetObjectHandle(clientID, 'Dummy',
vrep.simx_opmode_blocking)
if result != vrep.simx_return_ok:
raise Exception('could not get object handle for first joint')
#compute euler angles to orient the dummy object using the rotation matrix embedded in T_1in0
euAngle1 = -m.asin(T_1in0[2][0])
euAngle2 = m.atan2(T_1in0[2][1] / m.cos(euAngle1),
T_1in0[2][2] / m.cos(euAngle1))
euAngle3 = m.atan2(T_1in0[1][0] / m.cos(euAngle1),
T_1in0[0][0] / m.cos(euAngle1))
print('\n Euler angles:', euAngle1, euAngle2, euAngle3, '\n')
#set the position and orientation of a dummy object to the computed orientation and position of end effector
# to verify the computation
vrep.simxSetObjectOrientation(clientID, dummy, -1,
[euAngle1, euAngle2, euAngle3],
vrep.simx_opmode_oneshot)
time.sleep(2)
vrep.simxSetObjectPosition(clientID, dummy, -1,
[T_1in0[0][3], T_1in0[1][3], T_1in0[2][3]],
vrep.simx_opmode_oneshot)
time.sleep(2)
# move sawyer with the given theta inputs
move(theta1, theta2, theta3, theta4, theta5, theta6, theta7)
def main():
# nomal array
Data=[\
[[0],[20.0,0.1],[20.0,0.1],[20.0,0.1]],\
[[3],[20.0,0.1],[20.0,0.1],[20.0,0.1]],\
[[4],[20.0,0.1],[20.0,0.1],[20.0,0.1]],\
]
# numpy array
npData=np.array([\
[[1],[20.0,0.1],[20.0,0.1],[20.0,0.1]],\
[[2],[20.0,0.1],[20.0,0.1],[20.0,0.1]],\
[[5],[20.0,0.1],[20.0,0.1],[20.0,0.1]],\
])
# class move(LEG_SERVOS=3, port='/dev/ttyS0', rate=115200)
servo = move()
try:
# 従来型(file)
servo.Action('zero.csv', 1.0)
# 配列(普通の)
print Data
servo.Action(Data)
# 配列(numpy)
servo.Action(npData)
except KeyboardInterrupt:
servo.Close()
time.sleep(1.0)
servo.Close()
def best_move(state, turn, depth):
idx = 0
if (turn == mv.NORTH_TURN):
if (state.checkAllNorthHouseEmpty()):
idx = mv.INVALID_INDEX
else:
if (state.checkAllSouthHouseEmpty()):
idx = mv.INVALID_INDEX
if idx == mv.INVALID_INDEX:
return idx
max_value = -9999
if turn == mv.SOUTH_TURN:
init = 0
else:
init = 8
for i in range(init, init + 7):
if state.board[i] != 0:
next_state, next_turn = mv.move(state, turn, i)
value = minimax(next_state, next_turn, depth - 1, turn, -999, 999,
turn)
if max_value <= value:
max_value = value
idx = i
return idx
def ball_dust(self):
self.ball_check_fg = 0
servo = move()
#demo_action
for i in xrange(16):
temp_str = "stand_up_normal/test" + str(i) + ".csv"
servo.Action(temp_str, 0.01)
for i in xrange(2):
for j in xrange(16):
temp_str = "motion_04/test" + str(j) + ".csv"
servo.Action(temp_str, 0.01)
for i in xrange(2):
for j in xrange(16):
temp_str = "motion_02/test" + str(j) + ".csv"
servo.Action(temp_str, 0.01)
for i in xrange(2):
for j in xrange(16):
temp_str = "motion_06/test" + str(j) + ".csv"
servo.Action(temp_str, 0.01)
for i in xrange(2):
for j in xrange(16):
temp_str = "motion_05/test" + str(j) + ".csv"
servo.Action(temp_str, 0.01)
for i in xrange(2):
for j in xrange(16):
temp_str = "motion_02/test" + str(15 - j) + ".csv"
servo.Action(temp_str, 0.01)
for i in xrange(2):
for j in xrange(16):
temp_str = "motion_07/test" + str(15 - j) + ".csv"
servo.Action(temp_str, 0.01)
servo.Action('Ball/BallDust.csv', 1.0)
servo.Close()
def ball_catch(self):
self.ball_check_fg = 0
servo = move()
servo.Action('Ball/BallCatch.csv', 1.0)
servo.Close()
if self.tof.ReadDistance() == 2:
self.ball_check_fg = 1
def player_2_move(self, dt):
if (self.Board.checkAllHouseEmpty()):
self.add_win_lay()
if (self.Board.checkAllNorthHouseEmpty()):
self.Turn = m.SOUTH_TURN
if (self.Mode == "MvR"):
Clock.schedule_once(self.player_1_bot_move, DELAY_TIME)
else:
if (self.Mode == "RvP" or self.Mode == "MvR"): #random bot
bot_move = randombot.random_move(self.Board, self.Turn)
else: #minimax bot
bot_move = minimax.best_move(self.Board, self.Turn,
self.Difficulty)
print("Player 2 move: " + str(bot_move))
self.Board, self.Turn = m.move(self.Board, m.NORTH_TURN, bot_move)
self.set_turn_lbl(self.Turn)
self.draw_board()
if (self.Board.checkAllHouseEmpty()):
self.add_win_lay()
else:
if (self.Turn == m.NORTH_TURN):
Clock.schedule_once(self.player_2_move, DELAY_TIME)
elif (self.Mode == "MvR"):
Clock.schedule_once(self.player_1_bot_move, DELAY_TIME)
elif ((self.Mode == "MvP" or self.Mode == "RvP")
and self.Board.checkAllSouthHouseEmpty()):
self.Turn = m.NORTH_TURN
Clock.schedule_once(self.player_2_move, DELAY_TIME)
def player_1_move(self, hole_id):
if (self.Board.checkAllHouseEmpty()):
self.add_win_lay()
if (self.Board.checkAllSouthHouseEmpty()):
self.Turn = m.NORTH_TURN
Clock.schedule_once(self.player_2_move, DELAY_TIME)
else:
if ((self.Mode == "MvP" or self.Mode == "RvP")
and self.Turn == m.SOUTH_TURN
and self.Board.board[hole_id] != 0): #player move
if (hole_id < 7):
self.Board, self.Turn = m.move(self.Board, m.SOUTH_TURN,
hole_id)
print("Player 1 move: " + str(hole_id))
self.set_turn_lbl(self.Turn)
self.draw_board()
if (self.Board.checkAllHouseEmpty()):
self.add_win_lay()
else:
if (self.Turn != m.SOUTH_TURN):
Clock.schedule_once(self.player_2_move, DELAY_TIME)
elif (self.Board.checkAllSouthHouseEmpty()):
self.Turn = m.NORTH_TURN
Clock.schedule_once(self.player_2_move, DELAY_TIME)
def min(brd, aa= -64, depth=10, best=()):
if depth == 0:
return ((), calc(brd))
val = 64
bestmove = ()
moves = brd.getMove(brd.w)
if len(moves) == 0:
return (bestmove, 64)
if best:
moves.append(best)
for i in range(len(moves)-1, -1, -1):
if best and i < len(moves)-1 and moves[i] == best:
continue;
w = move(moves[i][0], moves[i][1], brd.w)
tmp = Brd(brd.b, w)
Rule.refresh(moves[i][1], tmp.w, tmp.b, tmp)
response = max(tmp, val, depth - 1, best=())[1]
if response < aa:
bestmove = moves[i]
val = response
break
if response < val:
bestmove = moves[i]
val = response
if val == 64: #white lose anyway
bestmove = moves[0]
return (bestmove, val)
def max(brd, bb=64, depth=10, best=()):
if depth == 0:
return ((), calc(brd))
bestmove = ()
val = -64
moves = brd.getMove(brd.b)
if len(moves) == 0:
return (bestmove, -64)
if len(best) > 0:
moves.append(best)
for i in range(len(moves)-1, -1, -1):
if best and i < len(moves)-1 and moves[i] == best:
continue;
b = move(moves[i][0], moves[i][1], brd.b)
tmp = Brd(b, brd.w)
Rule.refresh(moves[i][1], tmp.b, tmp.w, tmp)
response = min(tmp, val, depth - 1, best=())[1]
if response > bb:
bestmove = moves[i]
val = response
break;
if response > val:
bestmove = moves[i]
val = response
if val == -64: #black lose anyway
bestmove = moves[0]
return (bestmove, val)
def mainAct(pl):
clear()
choice = pMenu([
'hunt',
'move',
'heal',
'party',
'shop',
'dex',
'bank',
pl.name,
'save',
'leave',
])
if choice == 'hunt':
if not pl.countawake():
clear()
print pl.name + ' is out of usable pokemon!'
xxx = raw_input('\n\npress enter')
else:
hunt(pl)
if choice == 'party':
party(pl)
if choice == pl.name:
clear()
print 'Status\n\n'
print pl.name + ' $' + str(pl.money)
for bt in pl.balls:
if pl.balls[bt] > 0:
print bt + ': ' + str(pl.balls[bt])
print '\n'
raw_input('enter to return')
return 0
if choice == 'shop':
shop(pl)
if choice == 'heal':
heal(pl)
if choice == 'dex':
dexui(pl)
if choice == 'bank':
bank(pl)
if choice == 'save':
save(pl)
if choice == 'leave':
return 1
if choice == 'move':
move(pl)
def stand_up_before_turn(self, direction):
servo = move()
for i in xrange(16):
if direction == 'r':
temp_str = 'stand_before_turn_right/test' + str(i) + '.csv'
if direction == 'l':
temp_str = 'stand_before_turn_left/test' + str(i) + '.csv'
servo.Action(temp_str, 0.01)
def worker(move_lock,last_updated,q):
global curr4, curr17
while 1:
dire = q.get()
move_lock.acquire()
curr4.value, curr17.value = move(curr4.value, curr17.value, dire)
move_lock.release()
last_updated.value = time()
def movePiece(Board, currentGame, connection):
nxtMove = move(currentGame.startPos, currentGame.endPos)
if Board.makeMove(nxtMove):
currentGame.waitingForPromotion = Board.canPromote()
if currentGame.networkGame:
connection.sendto(pickle.dumps(nxtMove), currentGame.connectTo)
currentGame.saved = False
return True
else:
return False
def suspend(move_lock,last_updated,q):
global curr4, curr17
suspendtime = 600 # time in seconds after that the raspi will "suspend"
while 1:
sleep(1)
while curr4.value > 1000:
if last_updated.value + suspendtime < time():
move_lock.acquire()
curr4.value, curr17.value = move(curr4.value, curr17.value, "right")
move_lock.release()
else:
break
sleep(.25)
while curr17.value > 1000:
if last_updated.value + suspendtime < time():
move_lock.acquire()
curr4.value, curr17.value = move(curr4.value, curr17.value, "down")
move_lock.release()
else:
break
sleep(.25)
def _createMove(self, x, y):
to_return = None
if self._checkRanges(self.x, self.y) and self._checkRanges(x,y):
if self.x != x and self.y != y:
_move = move(self.board, False)
_move.noInputInit(self.x, self.y, self)
_move.setMove(x,y)
_move.checkMove()
if _move.isValidMove:
to_return = _move
return to_return
def _castle( self, moveToTry ):
"""If castle is possible, this function returns a move object
with the start and end position of the respective rook to
be moved. If that is the case, the player already provided
the king's start and end position. If no castle is possible,
the function returns false."""
kingpos = self._chooseKing()
kingcolor = self.pieces[kingpos].color
if self.pieces[kingpos].hasMoved:
return False # if king has moved, castle is not possible
y = self.pieces[kingpos].pos[1]
# check castle right
if self._castleRight(moveToTry,kingpos):
return(move((h,y),(f,y)))
# check castle left
if self._castleLeft(moveToTry,kingpos):
return(move((a,y),(d,y)))
# otherwise, no castle is possible
return False
def validPieceMoves( self , piecepos ):
"""This function returns a list of valid moves for the piece
contained in the given position. This function differs
from the one contained in the piece object because it
removes all the moves that will allow the king to be in
check after the turn."""
moves = self.pieces[piecepos].validMoves(self.squares)
for j in moves[:]:
movedBefore = True
myMove = move(self.pieces[piecepos].pos,j)
# move piece
if hasattr( self.pieces[piecepos] , 'hasMoved' ):
movedBefore = self.pieces[piecepos].hasMoved
moveMade = self.makeMove( myMove )
if( moveMade == True ):
self.undo( )
if hasattr( self.pieces[piecepos] , 'hasMoved' ):
if not movedBefore:
self.pieces[piecepos].hasMoved = False
else:
# player is in check after this move,
# so move is not valid
moves.remove(j)
return moves
def migite_method():
# 初期値
illegal_counter = 0
while( 1 ):
chk_wall = rcg.check_wall_front()
#chk_wall = WALL
if chk_wall == SPACE :
print 'space'
mv.move( 0, 1 )
else :
print 'wall'
illegal_counter = illegal_counter + 1
if illegal_counter >= 10 :
print 'turn left'
mv.move( 90, 0 )
illegal_counter = 0
print illegal_counter
else :
print 'turn right'
print illegal_counter
mv.move( -90, 0 )
from board import board
from move import move
from MinMax import MinMax
playboard = board()
player = int(raw_input("Player colour? (1=White, 2=Black)"))
print "Player is %s; computer is %s"%("Black" if player == 2 else "White",
"White" if player == 2 else "Black")
level = int(raw_input("Computer level? (1-?)"))
computer = MinMax(level, 1 if player == 2 else 2)
turn_token = 1
while 1:
playboard.display()
print "Score: %d"%playboard.score()
if turn_token == player:
move_object = None
while move_object == None:
move_string = raw_input("%s move? (ROW, COLUMN or ROW, COLUMN, TAKE_ROW, TAKE_COLUMN) "%
("White" if (turn_token == 1) else "Black"))
move_object = move(turn_token, string = move_string)
else:
move_object = computer.move(playboard)
turn_token = 2 if (turn_token == 1) else 1
playboard.move(move_object)
def moveb(frm, to, brd):
brd.b = move(frm, to, brd.b)
Rule.refresh(to, brd.b, brd.w, brd)
return brd
def movew(frm, to, brd):
brd.w = move(frm, to, brd.w)
Rule.refresh(to, brd.w, brd.b, brd)
return brd
def move(self, board):
return move(self.token, 2, 2)
def mini(
x,
q,
qn,
d,
delta,
finac,
data,
ausf,
einf,
m0,
m1,
m1c,
m2,
m2c,
typ1_ges,
typ2_ges,
param,
nap,
step,
dt,
npts,
x0,
sr0,
si0,
resid0,
residi0,
):
# import ipdb; ipdb.set_trace()
xl = np.zeros(nap)
xr = np.zeros(nap)
xm, qm = move(x, q, nap)
for k in range(nap):
xl[k] = x[k] - step * d[k]
xr[k] = x[k] + step * d[k]
# left
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(xl, param, delta, m1c, m2c)
sysl, m0_l, m1_l, m2_l = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysl, sr0, si0, resid0, residi0, m0_l, m1_l, m2_l)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_l, m1_l, m2_l, dt, npts)
ql = quad(qn, sim, npts)
# right
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(xr, param, delta, m1c, m2c)
sysr, m0_r, m1_r, m2_r = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysr, sr0, si0, resid0, residi0, m0_r, m1_r, m2_r)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_r, m1_r, m2_r, dt, npts)
qr = quad(qn, sim, npts)
# maximum?
if ql < qm and qr < qm:
print "Maximum encountered! Try again with different start parameters!"
sys.exit(1)
while ql >= qm and qr >= qm and step >= 8.0 * finac:
step = step / 8.0
for k in range(nap):
xl[k] = xm[k] - step * d[k]
xr[k] = xm[k] + step * d[k]
# left
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(xl, param, delta, m1c, m2c)
sysl, m0_l, m1_l, m2_l = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysl, sr0, si0, resid0, residi0, m0_l, m1_l, m2_l)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_l, m1_l, m2_l, dt, npts)
ql = quad(qn, sim, npts)
# right
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(xr, param, delta, m1c, m2c)
sysr, m0_r, m1_r, m2_r = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysr, sr0, si0, resid0, residi0, m0_r, m1_r, m2_r)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_r, m1_r, m2_r, dt, npts)
qr = quad(qn, sim, npts)
if ql < qm and qr < qm:
print "Maximum encountered! Try again with different start parameters!"
sys.exit(1)
# witch side of the minimum?
if ql < qm or qr < qm:
if ql < qr:
# turn around
x, q = move(xl, ql, nap)
xl, ql = move(xr, qr, nap)
xr, qr = move(x, q, nap)
for k in range(nap):
d[k] = -d[k]
if step > 1.0:
x, q = move(xr, qr, nap)
axi = step
return x, q, step, axi, amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp
else:
step = 2.0 * step
xm, qm = move(xr, qr, nap)
for k in range(nap):
xr[k] = xm[k] + step * d[k]
# right
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(xr, param, delta, m1c, m2c)
sysr, m0_r, m1_r, m2_r = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysr, sr0, si0, resid0, residi0, m0_r, m1_r, m2_r)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_r, m1_r, m2_r, dt, npts)
qr = quad(qn, sim, npts)
while qr < qm:
if step > 1.0:
x, q = move(xr, qr, nap)
axi = step
return x, q, step, axi, amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp
else:
step = 2.0 * step
xm, qm = move(xr, qr, nap)
for k in range(nap):
xr[k] = xm[k] + step * d[k]
# right
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(xr, param, delta, m1c, m2c)
sysr, m0_r, m1_r, m2_r = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysr, sr0, si0, resid0, residi0, m0_r, m1_r, m2_r)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_r, m1_r, m2_r, dt, npts)
qr = quad(qn, sim, npts)
# interpolate
xi = (ql - qr) / (ql - 2.0 * qm + qr) / 2.0 * step
axi = np.abs(xi)
for k in range(nap):
x[k] = xm[k] + xi * d[k]
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(x, param, delta, m1c, m2c)
sysp, m0_i, m1_i, m2_i = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysp, sr0, si0, resid0, residi0, m0_i, m1_i, m2_i)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_i, m1_i, m2_i, dt, npts)
q = quad(qn, sim, npts)
return x, q, step, axi, amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp
if step < 8.0 * finac:
xi = (ql - qr) / (ql - 2.0 * qm + qr) / 2.0 * step
axi = np.abs(xi)
for k in range(nap):
x[k] = xm[k] + xi * d[k]
amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp, nap = def_act_sys_par(x, param, delta, m1c, m2c)
sysp, m0_i, m1_i, m2_i = def_sys_par(
x0, dt, m0, m1, m2, amp, delay, sub, til, typ1_ges, typ2_ges, corn_freqs1, corn_freqs2, dmp
)
sr, si, resid, residi = freqDamp2paz(sysp, sr0, si0, resid0, residi0, m0_i, m1_i, m2_i)
sim = ltisim(0, data, ausf, einf, delay, sub, til, sr, si, resid, residi, m0_i, m1_i, m2_i, dt, npts)
q = quad(qn, sim, npts)
return x, q, step, axi, amp, delay, sub, til, corn_freqs1, corn_freqs2, dmp
print "Residual error..."
print "Try again with other start parameters!"
sys.exit(1)
