Python sayの例

コード例 #1

ファイル: Assignment_2_3.py プロジェクト: yousiftouma/tddd63-project

        return True
    else:
        return False
    

# create states

waitSittingState = createState("waitSittingState", lambda: None)
waitStandingState = createState("waitStandingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
hangHeadState = createState("hangHeadState", hMHang)
shutdownState = createState("shutdownState",
				lambda : shutdown("Final state reached"))
sayBallState = createState("sayBallState", lambda: say("ball!"))
sayNoBallState = createState("sayNoBallState", lambda: say("no ball found!"))
lookAtBallState = createState("lookAtBallState", lambda wm: lookAtBall(wm))


# Add transitions

addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, hangHeadState)
addTransition(hangHeadState, lambda wm: True, waitStandingState)
addTransition(waitStandingState, seeBall, sayBallState)
addTransition(waitStandingState, time, sayNoBallState)
addTransition(sayBallState, lambda wm: True, lookAtBallState)
addTransition(lookAtBallState, noSeeBall, sayNoBallState)
addTransition(sayNoBallState, lambda wm: True, sitState)
addTransition(sitState, lambda wm: True, restState)

コード例 #2

## CREATE STATES ##

sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
walkState = createState("walkState", startWalking)
stopWalkState = createState("stopWalkState", stopWalking)
stopWalk2State = createState("stopWalk2State", stopWalking)
rotateState = createState("rotateState", lambda: setWalkVelocity(0, 0, 0.5))
uTurnState = createState("uTurnState", lambda: setWalkVelocity(1, 0, 0.2))
shutdownState = createState("shutdownState",
                            lambda: shutdown("Final state reached"))

# Create states for talking

sayLetsWalkState = createState("sayLetsWalkState", lambda: say("Hej Yousif!"))
sayRotateState = createState("sayRotateState", lambda: say("spinn!"))
sayUTurnState = createState("sayUTurnState", lambda: say("u turn!"))
sayGoodbyeState = createState("sayGoodbyeState", lambda: say("Goodbye World!"))

# Create states for waiting for touch

waitSittingState = createState("waitSittingState", lambda: None)
waitStandingState = createState("waitStandingState", lambda: None)

# Create states for function calls

# Add transitions according to the state diagram
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, sayLetsWalkState)
addTransition(sayLetsWalkState, lambda wm: True, walkState)

コード例 #3

ファイル: mainFSM.py プロジェクト: yousiftouma/tddd63-project

waitSittingState3 = createState("waitSittingState3", lambda : None)
waitSittingState2 = createState("waitSittingState2", lambda : None)
waitSittingState = createState("waitSittingState", lambda : None)

# Create communcationsstates

sendStandStatus = createState("sendStandStatus" , 
                               lambda: communicate("puff", "Stand"))

sendSitStatus = createState("sendSitStatus", 
                            lambda: communicate("puff", "Sit"))

# States for talking

sayShutdownState = createState("sayShutdownState", lambda: say("Shutting Down"))


# Add transitions according to the state diagram
addTransition(waitSittingState, detectTouch, sendStandStatus)
addTransition(sendStandStatus, lambda wm: True, waitSittingState2)
addTransition(waitSittingState2, touchDelay, sendSitStatus)
addTransition(sendSitStatus, lambda wm: True, waitSittingState3)
addTransition(waitSittingState3, touchDelay, sayShutdownState)
addTransition(sayShutdownState, lambda wm: True, restState)
addTransition(restState, lambda wm: True, shutdownState)


# Create the FSM and add the states created above
mainFSM = createFSM("mainFSM")
addStates(mainFSM , waitSittingState, waitSittingState2, waitSittingState3, 

コード例 #4

ファイル: Assignment_1_3.py プロジェクト: yousiftouma/tddd63-project

# Define the event function which detects touch
def detectTouch(wm):
    return readWM(wm, "tactile", "middle")

## CREATE STATES ##

sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
				lambda : shutdown("Final state reached"))

# Create states for talking

sayHelloState = createState("sayHelloState", lambda: say("Hello World"))
sayGoodbyeState = createState("sayGoodbyeState", lambda: say("Goodbye World!"))
 
# Create states for waiting for touch

waitSittingState = createState("waitSittingState", lambda : None)
waitStandingState = createState("waitStandingState", lambda : None)

# Add transitions according to the state diagram
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, sayHelloState)
addTransition(sayHelloState, lambda wm: True, waitStandingState)
addTransition(waitStandingState, detectTouch, sayGoodbyeState)
addTransition(sayGoodbyeState, lambda wm: True, sitState)
addTransition(sitState, lambda wm: True, restState)
addTransition(restState, lambda wm: True, shutdownState)

コード例 #5

# Create communcationsstates

robot = "goliath"

sendStandStatus = createState("sendStandStatus",
                              lambda: communicate(robot, "Stand"))

sendSitStatus = createState("sendSitStatus", lambda: communicate(robot, "Sit"))

sendKickStatus = createState("sendKickStatus",
                             lambda: communicate(robot, "Kick"))

# States for talking

sayShutdownState = createState("sayShutdownState",
                               lambda: say("Shutting Down"))

# Add transitions according to the state diagram
addTransition(waitSittingState, detectTouch, sendStandStatus)

addTransition(sendStandStatus, lambda wm: True, waitSittingState2)
addTransition(waitSittingState2, touchDelay, sendKickStatus)

addTransition(sendKickStatus, lambda wm: True, waitSittingState3)
addTransition(waitSittingState3, touchDelay, sendSitStatus)

addTransition(sendSitStatus, lambda wm: True, waitSittingState4)
addTransition(waitSittingState4, touchDelay, sayShutdownState)

addTransition(sayShutdownState, lambda wm: True, restState)
addTransition(restState, lambda wm: True, shutdownState)

コード例 #6

from fsm.functions import (
	createState, createFSM,
	addTransition, addStates,
	setInitialState)	
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown)

# Create states
sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
				lambda : shutdown("Final state reached"))

# Create a state which commands the robot to say "Hello World!"
sayState = createState("sayState", lambda: say("Hello World")) 

# Add transitions between states
addTransition(standState, lambda wm: True, sayState)
addTransition(sayState, lambda wm: True, sitState)
addTransition(sitState, lambda wm: True, restState)
addTransition(restState, lambda wm: True, shutdownState)


# Create the FSM and add the states created above
myFSM = createFSM("fsm")
addStates(myFSM, standState, sayState, sitState, restState, shutdownState)

# Set the initial state to standState
setInitialState(myFSM, standState)

コード例 #7

from api.pubapi import (sit, stand, rest, say, shutdown)

# Import functions we've written
from functions import (waitForStand, waitForSit)

## CREATE STATES ##

sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
                            lambda: shutdown("Final state reached"))

# Create states for talking

sayHelloState = createState("sayHelloState", lambda: say("Hello World"))
sayGoodbyeState = createState("sayGoodbyeState", lambda: say("Goodbye World!"))

# Create states for waiting for touch

waitSittingState = createState("waitSittingState", lambda: None)
waitStandingState = createState("waitStandingState", lambda: None)

# Create communcationsstates

# Add transitions according to the state diagram
addTransition(waitSittingState, waitForStand, standState)
addTransition(standState, lambda wm: True, sayHelloState)
addTransition(sayHelloState, lambda wm: True, waitStandingState)
addTransition(waitStandingState, waitForSit, sayGoodbyeState)
addTransition(sayGoodbyeState, lambda wm: True, sitState)

コード例 #8

ファイル: Assignment_2_1.py プロジェクト: yousiftouma/tddd63-project

sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
walkState = createState("walkState", startWalking)
stopWalkState = createState("stopWalkState", stopWalking)
stopWalk2State = createState("stopWalk2State", stopWalking)
rotateState = createState("rotateState", lambda: setWalkVelocity(0, 0, 0.5))
uTurnState = createState("uTurnState", lambda: setWalkVelocity(1, 0, 0.2))
shutdownState = createState("shutdownState",
				lambda: shutdown("Final state reached"))


# Create states for talking

sayLetsWalkState = createState("sayLetsWalkState", lambda: say("Hej Yousif!"))
sayRotateState = createState("sayRotateState", lambda: say("spinn!"))
sayUTurnState = createState("sayUTurnState", lambda: say("u turn!"))
sayGoodbyeState = createState("sayGoodbyeState", lambda: say("Goodbye World!"))

 
# Create states for waiting for touch

waitSittingState = createState("waitSittingState", lambda: None)
waitStandingState = createState("waitStandingState", lambda: None)

# Create states for function calls


# Add transitions according to the state diagram
addTransition(waitSittingState, detectTouch, standState)