def run(self):
# You should insert a getDevice-like function in order to get the
# instance of a device of the robot. Something like:
#print self.get_proximities()
pimg = self.snapshot(False)
print pimg
#print "proximities: "
#print self.get_proximities()
training_data = read_training_data()
self.ann.do_training(training_data)
self.ann.stop_training()
# Main loop
while True:
# Read the sensors:
sens = self.get_proximities()
# Process sensor data here.
self.enter_input(sens)
self.ann.execute()
output = self.get_output()
if self.ann.is_hardwired():
self.set_wheel_speeds(output[0]-output[2]+uniform(0.3,0.5), output[1]-output[2]+uniform(0.3,0.5))
else:
self.set_wheel_speeds(output[0], output[1])
# Enter here functions to send actuator commands, like:
# led.set(1)
# Perform a simulation step of 64 milliseconds
# and leave the loop when the simulation is over
if self.step(64) == -1: break
def run(self):
# You should insert a getDevice-like function in order to get the
# instance of a device of the robot. Something like:
# led = self.getLed('ledname')
'''
1. get_proximities(): vector with values from the 8 distance sensors
2. snapshot()
3. move, move_wheels, set_wheel_speeds
4. run_timestep, do_timed_action
'''
#self.move_wheels(left, right, duration)
#print self.get_proximities()
#pimg = self.snapshot(True)
#print "proximities: "
#print self.get_proximities()
training_data = read_training_data()
self.ann.do_training(training_data)
# Main loop
while True:
# Read the sensors:
# Enter here functions to read sensor data, like:
#for s in self.sensors:
#val = s.getValue()
sens = self.get_proximities()
self.enter_input(sens)
self.ann.execute()
output = self.get_output()
left = 0
right = 0
for i in range(len(output) / 2):
left += output[i]
right += output[len(output) - 1 - i]
self.set_wheel_speeds(left, right)
# Process sensor data here.
#self.enter_input(img)
# Enter here functions to send actuator commands, like:
# led.set(1)
# Perform a simulation step of 64 milliseconds
# and leave the loop when the simulation is over
if self.step(64) == -1: break
def run(self):
# You should insert a getDevice-like function in order to get the
# instance of a device of the robot. Something like:
# led = self.getLed('ledname')
'''
1. get_proximities(): vector with values from the 8 distance sensors
2. snapshot()
3. move, move_wheels, set_wheel_speeds
4. run_timestep, do_timed_action
'''
#self.move_wheels(left, right, duration)
#print self.get_proximities()
#pimg = self.snapshot(True)
#print "proximities: "
#print self.get_proximities()
training_data = read_training_data()
self.ann.do_training(training_data)
# Main loop
while True:
# Read the sensors:
# Enter here functions to read sensor data, like:
#for s in self.sensors:
#val = s.getValue()
sens = self.get_proximities()
self.enter_input(sens)
self.ann.execute()
output = self.get_output()
left = 0
right = 0
for i in range(len(output)/2):
left += output[i]
right += output[len(output)-1-i]
self.set_wheel_speeds(left, right)
# Process sensor data here.
#self.enter_input(img)
# Enter here functions to send actuator commands, like:
# led.set(1)
# Perform a simulation step of 64 milliseconds
# and leave the loop when the simulation is over
if self.step(64) == -1: break
