def leaveLoad():
fct.goForward()
time.sleep(1.7)
fct.stop(9)
fct.trolleyDown()
fct.goBackward()
time.sleep(2)
fct.stop(9)
fct.trolleyUp()
followLine(10000)
def react(c):
if c in [ord('q'), 27, 32]:
stop()
return
elif c == curses.KEY_LEFT:
fct.goFullSpeedLeft()
elif c == curses.KEY_RIGHT:
fct.goFullSpeedRight()
elif c == curses.KEY_UP:
fct.goForward()
elif c == curses.KEY_DOWN:
fct.goBackward()
def main():
comm = Communication()
comm.connect('127.0.0.1', 5555)
while(True):
msg = comm.myreceive()
print('Received message: ' + str(msg))
op = int.from_bytes(msg[:2], byteorder='big')
id = int.from_bytes(msg[2:4], byteorder='big')
if(op == 0): # Setup message
r = Robot(comm, id, 1, 1)
msg = struct.pack('hhhh', 1, r.id, r.x, r.y)
comm.mysend(msg)
elif(op == 2): # Move message
dir = int.from_bytes(msg[4:6], byteorder='big')
result = False
if(dir == 1):
bf.goForward()
elif(dir == 2):
bf.goBackward()
elif(dir == 3):
fl.turnRight()
elif(dir == 4):
fl.turnLeft()
elif(dir == 5):
result = fl.followLine(2)
elif(dir == 6):
bf.turn90Right()
elif(dir == 7):
bf.turn90Left()
elif(dir == 8):
bf.turn180Right()
elif(dir == 9):
fl.goForwardIntersection()
elif(dir == 10):
bf.trolleyUp()
elif(dir == 11):
bf.trolleyDown()
elif(dir == 12):
fl.takeLoads()
elif(dir == 13):
fl.leaveLoad()
elif(dir == 14):
bf.stop()
if(result == True):
comm.mysend(struct.pack('hhh', 3, r.id, 0))
def takeLoads():
loaded=False
while loaded != True:
if fct.readDistance()<250 and fct.readDistance()>150 :
fct.trolleyDown()
fct.goForward()
time.sleep(2)
fct.stop(9)
fct.trolleyLoaded()
time.sleep(1)
loaded=True
elif fct.readDistance()<150 :
fct.goBackward()
while fct.readDistance()<150:
True
fct.stop(9)
else :
fct.goForward()
while fct.readDistance()>250:
True
fct.stop(9)
