def measure():
global blind_steps
blind_steps = 0
measurement = make_measurement(bot, grid, variance=1)
particle_filter.measure(measurement, measurement_likelihood)
ui.draw_bots(canvas, bot, particle_filter.particles)
ui.draw_measurement(canvas, bot, measurement)
def move():
ui.clear_measurement(canvas)
global bot, blind_steps, should_filter_reset
blind_steps += 1
direction = vote()
bot = movement_model(bot, direction, .1, 0)
particle_filter.move(direction, movement_model)
ui.draw_bots(canvas, bot, particle_filter.particles)
measurement = make_measurement(bot, grid, variance=1)
if min(measurement) <= SAFETY_BUFFER:
instructions_text.set("I'm awfully close to a wall. Lemme reset the filter.")
should_filter_reset = True
def reset_filter(event):
global particle_filter
particle_filter = pf.ParticleFilter(prior_distribution, particle_count=1000)
ui.draw_bots(canvas, bot, particle_filter.particles)