def main():
wanderer = Tortoise()
wanderer.setLEDValue(1, 1)
wanderer.setLEDValue(2, 1)
wanderer.setLEDValue(3, 1)
wanderer.setLEDValue(4, 1)
while True:
wanderer.moveForwards(2000)
def main():
wanderer = Tortoise()
wanderer.setLEDValue(1, 1)
wanderer.setLEDValue(2, 1)
wanderer.setLEDValue(3, 1)
wanderer.setLEDValue(4, 1)
while True:
wanderer.moveForwards(2000)
def main():
wanderer = Tortoise()
while True:
wanderer.moveForwards(500)
time.sleep(0.5)
#wanderer.gentleTurn(1000, enums.Direction.forward_left)
#time.sleep(1)
#wanderer.moveMotors(1000, enums.Direction.forward_right)
#time.sleep(1)
wanderer.moveBackwards(500)
time.sleep(0.5)
lastMove = "forward"
while True:
frontSwitch = Walter.getSensorData(SensorType.touch, 1)
backSwitch = Walter.getSensorData(SensorType.touch, 2)
if frontSwitch ==1 and backSwitch ==0:
print "Obstacle in front - moving backwards"
Walter.setLEDValue(1, 0) #self.setLEDValue(position, value)
Walter.setLEDValue(2, 1) #self.setLEDValue(position, value)
Walter.moveBackwards(100)
lastMove = "back"
elif backSwitch ==1 and frontSwitch ==1:
print "Can't move!"
elif frontSwitch ==0 and backSwitch ==1:
print "Obstacle behind - moving forwards"
Walter.setLEDValue(1, 1) #self.setLEDValue(position, value)
Walter.setLEDValue(2, 0) #self.setLEDValue(position, value)
Walter.moveForwards(100)
lastMove = "forward"
else:
print "Exploring"
Walter.setLEDValue(1, 1) #self.setLEDValue(position, value)
Walter.setLEDValue(2, 1) #self.setLEDValue(position, value)
if lastMove == "forward":
Walter.moveForwards(100)
else:
Walter.moveBackwards(100)
Name=Tortoise()
while True:
touchSensor = Name.getSensorData(SensorType.touch,1)
print "Front switch is:"
print touchSensor
touchSensor2 = Name.getSensorData(SensorType.touch,3)
print "Back switch is: "
print touchSensor2
if touchSensor == 1:
print "Switch is on"
Name.moveBackwards(30)
Name.setLEDValue(1, 1) #self.setLEDValue(position, value)
Name.setLEDValue(2, 0) #self.setLEDValue(position, value)
touchSensor2Loop = Name.getSensorData(SensorType.touch,3)
print "Back switch as read inside loop: "
print touchSensor2Loop
if touchSensor2 == 1:
print "Back switch has been hit"
Name.moveForwards(30)
Name.setLEDValue(2, 0) #self.setLEDValue(position, value)
if touchSensor == 0:
break
# else:
#print "Switch is off"
#Name.moveForwards(30)
#Name.setLEDValue(1, 0) #self.setLEDValue(position, value)
#Name.setLEDValue(2, 1) #self.setLEDValue(position, value)
# response always triggered by main sensor
if responseSensor == 1:
responseFlag = 1
if stimulusSensor == 1:
# update accumulator
if responseSensor == 1:
learnAssoc = 0.6 * learnAssoc + 0.4
Cora.setLEDValue(1, 1)
else:
learnAssoc = 0.75 * learnAssoc
# check association thresholds
if (learnAssoc > 0.8 and assocFlag == 0):
assocFlag = 1
Cora.setLEDValue(2, 1)
elif (learnAssoc < 0.2 and assocFlag == 1):
assocFlag = 0
Cora.setLEDValue(2, 0)
# trigger response if associated
if assocFlag == 1:
responseFlag = 1
if responseFlag == 1:
Cora.moveForwards(100)
else:
if random.random() < 0.5:
Cora.turnOnTheSpot(10, Direction.backwards_right)
else:
Cora.turnOnTheSpot(10, Direction.backwards_left)
Name = Tortoise()
while True:
touchSensor = Name.getSensorData(SensorType.touch, 1)
print "Front switch is:"
print touchSensor
touchSensor2 = Name.getSensorData(SensorType.touch, 3)
print "Back switch is: "
print touchSensor2
if touchSensor == 1:
print "Switch is on"
Name.moveBackwards(30)
Name.setLEDValue(1, 1) #self.setLEDValue(position, value)
Name.setLEDValue(2, 0) #self.setLEDValue(position, value)
touchSensor2Loop = Name.getSensorData(SensorType.touch, 3)
print "Back switch as read inside loop: "
print touchSensor2Loop
if touchSensor2 == 1:
print "Back switch has been hit"
Name.moveForwards(30)
Name.setLEDValue(2, 0) #self.setLEDValue(position, value)
if touchSensor == 0:
break
# else:
#print "Switch is off"
#Name.moveForwards(30)
#Name.setLEDValue(1, 0) #self.setLEDValue(position, value)
#Name.setLEDValue(2, 1) #self.setLEDValue(position, value)
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Name=Tortoise()
lastFrontSwitch = 0
lastBackSwitch = 0
while True:
currentFrontSwitch = Name.getSensorData(SensorType.touch,3)
currentBackSwitch = Name.getSensorData(SensorType.touch,1)
forwards = abs(lastBackSwitch - currentBackSwitch)
backwards = abs(lastFrontSwitch - currentFrontSwitch)
if forwards==1 and backwards==0:
lastFrontSwitch=currentFrontSwitch
print "Moving forwards"
Name.moveForwards(5)
if backwards ==1 and forwards==0:
lastbackSwitch=currentBackSwitch
print "Moving backwards"
Name.moveBackwards(5)
else:
print "No switches on"
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Elsie=Tortoise()
while True:
proxSensor = Elsie.getSensorData(SensorType.proximity,2)
if proxSensor == 1:
print "Obstacle detected behind"
Elsie.setLEDValue(1, 1) #self.setLEDValue(position, value)
Elsie.moveForwards(150)
else:
print "No obstacle detected"
Elsie.setLEDValue(1, 0) #self.setLEDValue(position, value)
Elsie.doRandomMovement()
while True:
proxSensor = Elmer.getSensorData(SensorType.proximity, 1)
proxSensor2 = Elmer.getSensorData(SensorType.proximity, 2)
if proxSensor == 1 and proxSensor2 == 0:
print "Obstacle detected in front"
Elmer.setLEDValue(1, 1) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 0) #self.setLEDValue(position, value)
Elmer.moveBackwards(150)
elif proxSensor == 1 and proxSensor2 == 1:
print "Obstacles detected in front and behind!"
Elmer.setLEDValue(1, 1) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 1) #self.setLEDValue(position, value)
elif proxSensor == 0 and proxSensor2 == 1:
print "Obstacle detected behind"
Elmer.setLEDValue(1, 0) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 1) #self.setLEDValue(position, value)
Elmer.moveForwards(150)
else:
print "No obstacle detected"
Elmer.setLEDValue(1, 0) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 0) #self.setLEDValue(position, value)
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Name = Tortoise()
lastFrontSwitch = 0
lastBackSwitch = 0
while True:
currentFrontSwitch = Name.getSensorData(SensorType.touch, 3)
currentBackSwitch = Name.getSensorData(SensorType.touch, 1)
forwards = abs(lastBackSwitch - currentBackSwitch)
backwards = abs(lastFrontSwitch - currentFrontSwitch)
if forwards == 1 and backwards == 0:
lastFrontSwitch = currentFrontSwitch
print "Moving forwards"
Name.moveForwards(5)
if backwards == 1 and forwards == 0:
lastbackSwitch = currentBackSwitch
print "Moving backwards"
Name.moveBackwards(5)
else:
print "No switches on"
# response always triggered by main sensor
if responseSensor == 1:
responseFlag = 1
if stimulusSensor == 1:
# update accumulator
if responseSensor == 1:
learnAssoc = 0.6*learnAssoc + 0.4
Cora.setLEDValue(1, 1)
else:
learnAssoc = 0.75*learnAssoc
# check association thresholds
if (learnAssoc > 0.8 and assocFlag == 0):
assocFlag = 1
Cora.setLEDValue(2, 1)
elif (learnAssoc < 0.2 and assocFlag == 1):
assocFlag = 0
Cora.setLEDValue(2, 0)
# trigger response if associated
if assocFlag == 1:
responseFlag = 1
if responseFlag == 1:
Cora.moveForwards(100)
else:
if random.random()<0.5:
Cora.turnOnTheSpot(10,Direction.backwards_right)
else:
Cora.turnOnTheSpot(10,Direction.backwards_left)
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Elsie = Tortoise()
while True:
proxSensor = Elsie.getSensorData(SensorType.proximity, 2)
if proxSensor == 1:
print "Obstacle detected behind"
Elsie.setLEDValue(2, 1) #self.setLEDValue(position, value)
Elsie.moveForwards(150)
else:
print "No obstacle detected"
Elsie.setLEDValue(2, 0) #self.setLEDValue(position, value)
Elsie.doRandomMovement()
from tortoise import Tortoise
from enums import Direction, SensorType
Name=Tortoise()
while True:
touchSensorValue = Name.getSensorData(SensorType.touch, 1)
if touchSensorValue == 1:
print "Touch sensor is being pressed"
Name.setLEDValue(1, 1)
Name.moveForwards(50)
else:
print "Nothing is pressing the touch sensor"
Name.setLEDValue(1, 0)
while True:
proxSensor = Elmer.getSensorData(SensorType.proximity,1)
proxSensor2 = Elmer.getSensorData(SensorType.proximity,2)
if proxSensor == 1 and proxSensor2 == 0:
print "Obstacle detected in front"
Elmer.setLEDValue(1, 1) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 0) #self.setLEDValue(position, value)
Elmer.moveBackwards(150)
elif proxSensor == 1 and proxSensor2 == 1:
print "Obstacles detected in front and behind!"
Elmer.setLEDValue(1, 1) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 1) #self.setLEDValue(position, value)
elif proxSensor == 0 and proxSensor2 == 1:
print "Obstacle detected behind"
Elmer.setLEDValue(1, 0) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 1) #self.setLEDValue(position, value)
Elmer.moveForwards(150)
else:
print "No obstacle detected"
Elmer.setLEDValue(1, 0) #self.setLEDValue(position, value)
Elmer.setLEDValue(2, 0) #self.setLEDValue(position, value)
backwardSwitch = Name.getSensorData(SensorType.touch, 2)
# if (forwardSwitch == backwardSwitch):
if (forwardSwitch == 0 and backwardSwitch == 0) or (forwardSwitch == 1 and backwardSwitch == 1):
print "monkey"
if forwardSwitch == 1:
print "Switch 1 is on"
else:
print "Switch 1 is off"
if backwardSwitch == 1:
print "Switch 2 is on"
else:
print "Switch 2 is off"
print " "
Name.moveForwards(100)
Name.setLEDValue(1, 1) #self.setLEDValue(position, value)
Name.setLEDValue(2, 0) #self.setLEDValue(position, value)
# if (forwardSwitch != backwardSwitch):
if (forwardSwitch == 1 and backwardSwitch == 0) or (forwardSwitch == 0 and backwardSwitch == 1):
print "donkey"
if forwardSwitch == 1:
print "Switch 1 is on"
else:
print "Switch 1 is off"
if backwardSwitch == 1:
print "Switch 2 is on"
else:
print "Switch 2 is off"
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Grey = Tortoise()
while True:
touchSensor = Grey.getSensorData(SensorType.touch, 1)
if touchSensor == 1:
print "Switch is on"
Grey.setLEDValue(1, 1) #self.setLEDValue(position, value)
Grey.moveForwards(50)
else:
print "Switch is off"
Grey.setLEDValue(1, 0) #self.setLEDValue(position, value)
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Grey = Tortoise()
while True:
touchSensor = Grey.getSensorData(SensorType.touch, 1)
if touchSensor == 1:
print "Switch is on"
Grey.setLEDValue(1, 1) # self.setLEDValue(position, value)
Grey.moveForwards(50)
else:
print "Switch is off"
Grey.setLEDValue(1, 0) # self.setLEDValue(position, value)
backSwitch = Walter.getSensorData(SensorType.touch, 2)
if frontSwitch ==1 and backSwitch ==0:
print "Obstacle in front - moving backwards"
Walter.setLEDValue(1, 0) #self.setLEDValue(position, value)
Walter.setLEDValue(2, 1) #self.setLEDValue(position, value)
lastMove = "back"
elif backSwitch ==1 and frontSwitch ==1:
print "Can't move!"
elif frontSwitch ==0 and backSwitch ==1:
print "Obstacle behind - moving forwards"
Walter.setLEDValue(1, 1) #self.setLEDValue(position, value)
Walter.setLEDValue(2, 0) #self.setLEDValue(position, value)
lastMove = "forward"
else:
print "Exploring"
Walter.setLEDValue(1, 1) #self.setLEDValue(position, value)
Walter.setLEDValue(2, 1) #self.setLEDValue(position, value)
if lastMove == "forward":
Walter.moveForwards(100)
else:
Walter.moveBackwards(100)
def main():
wanderer = Tortoise()
while True:
print "Moving forwards"
wanderer.moveForwards(500)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Moving backwards"
wanderer.moveBackwards(500)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot forwards_left"
wanderer.turnOnTheSpot(500, enums.Direction.forwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot forwards_right"
wanderer.turnOnTheSpot(500, enums.Direction.forwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot backwards_left"
wanderer.turnOnTheSpot(500, enums.Direction.backwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot bakwards_right"
wanderer.turnOnTheSpot(500, enums.Direction.backwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally forwards_left"
wanderer.turn(200, 500, enums.Direction.forwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally backwards_left"
wanderer.turn(200, 500, enums.Direction.backwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally forwards_right"
wanderer.turn(500, 200, enums.Direction.forwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally backwards_right"
wanderer.turn(500, 200, enums.Direction.backwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Gyrating clockwise"
wanderer.shuffleOnTheSpot(500, enums.Direction.clockwise)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Gyrating counter clockwise"
wanderer.shuffleOnTheSpot(500, enums.Direction.counterClockwise)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
def main():
wanderer = Tortoise()
while True:
print "Moving forwards"
wanderer.moveForwards(500)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Moving backwards"
wanderer.moveBackwards(500)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot forwards_left"
wanderer.turnOnTheSpot(500, enums.Direction.forwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot forwards_right"
wanderer.turnOnTheSpot(500, enums.Direction.forwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot backwards_left"
wanderer.turnOnTheSpot(500, enums.Direction.backwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning on the spot bakwards_right"
wanderer.turnOnTheSpot(500, enums.Direction.backwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally forwards_left"
wanderer.turn(200, 500, enums.Direction.forwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally backwards_left"
wanderer.turn(200, 500, enums.Direction.backwards_left)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally forwards_right"
wanderer.turn(500, 200, enums.Direction.forwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Turning naturally backwards_right"
wanderer.turn(500, 200, enums.Direction.backwards_right)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Gyrating clockwise"
wanderer.shuffleOnTheSpot(500, enums.Direction.clockwise)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
print "Gyrating counter clockwise"
wanderer.shuffleOnTheSpot(500, enums.Direction.counterClockwise)
time.sleep(0.5)
print
print "\tPress enter to continue"
print
raw_input()
from tortoise import Tortoise
from enums import Direction, SensorType
Name = Tortoise()
while True:
touchSensorValue = Name.getSensorData(SensorType.touch, 1)
if touchSensorValue == 1:
print "Touch sensor is being pressed"
Name.setLEDValue(1, 1)
Name.moveForwards(50)
else:
print "Nothing is pressing the touch sensor"
Name.setLEDValue(1, 0)
from tortoise import Tortoise
from enums import Direction, SensorType, ActuatorType
Dennis=Tortoise()
while True:
Dennis.setLEDValue(1, 0)
Dennis.setLEDValue(2, 0)
rightSensor = Dennis.getSensorData(SensorType.proximity,1)
leftSensor = Dennis.getSensorData(SensorType.proximity,2)
if rightSensor == 1:
print "Obstruction right"
Dennis.setLEDValue(1, 1)
Dennis.turnOnTheSpot(20,Direction.backwards_right)
elif leftSensor == 1:
print "Obstruction left"
Dennis.setLEDValue(2,1)
Dennis.turnOnTheSpot(20,Direction.backwards_left)
else:
print "I'm wandering..."
Dennis.moveForwards(30)
