def main():
motob = Motob()
bbcon = Bbcon(motob)
arbitrator = Arbitrator(bbcon)
bbcon.set_arbitrator(arbitrator)
# sensorer og sensob
ult_sensor = Ultrasonic()
ref_sensor = ReflectanceSensors(auto_calibrate=False)
reflectance_sensob = ReflectanceSensob(ref_sensor)
ultrasonic_sensob = UltrasonicSensob(ult_sensor)
camera_sensob = CameraSensob(None, color=0)
#behaviors
dont_crash = DontCrash(bbcon, ultrasonic_sensob)
follow_line = FollowLine(bbcon, reflectance_sensob)
find_object = FindColoredObject(bbcon, camera_sensob)
bbcon.add_behavior(dont_crash)
bbcon.add_behavior(follow_line)
bbcon.add_behavior(find_object)
try:
ZumoButton().wait_for_press()
while not bbcon.object_found: # Kjører helt til vi finner objektet
bbcon.run_one_timestep()
except KeyboardInterrupt:
motob.motor.stop()
finally:
GPIO.cleanup()
def main():
bbcon = Bbcon()
lineRider = FollowLine(bbcon)
obstruction = Obstruction(bbcon)
photo = Photo(bbcon)
bbcon.add_behavior(lineRider)
bbcon.add_behavior(obstruction)
bbcon.add_behavior(photo)
ZumoButton().wait_for_press()
while True:
bbcon.run_one_timestep()
def main():
"""
Runs the program
"""
bbcon = Bbcon()
#drive_forward = DriveForward(bbcon)
follow_line = FollowLine(bbcon)
obstruction = Obstruction(bbcon)
# Legger til behavior
#bbcon.add_behavior(drive_forward)
bbcon.add_behavior(follow_line)
bbcon.add_behavior(obstruction)
ZumoButton().wait_for_press()
while True:
bbcon.run_one_timestep()
from bbcon import Bbcon
from behaviours.avoid_line_behaviour import AvoidLineBehaviour
from behaviours.follow_red_behaviour import FollowRedBehaviour
from sensobs.line_sensob import LineSensob
from sensobs.red_detector import RedDetector
from sensors import *
from robot.motors import Motors
from motob import WheelMotob
from behaviours.avoid_collision_behaviour import AvoidCollisionBehaviour
from sensobs.ultra_sensob import UltraSensob
from sensors.ultrasonic import Ultrasonic
if __name__ == '__main__':
bb = Bbcon()
# Line detection
ir_sensor = ir.ReflectanceSensors(auto_calibrate=True)
line_sensob = LineSensob(ir_sensor)
avl = AvoidLineBehaviour(bb, line_sensob)
bb.add_sensor(ir_sensor)
bb.add_sensory_object(line_sensob)
bb.add_behaviour(avl)
bb.activate_behaviour(avl)
# Motor
motors = Motors()
wheel_motob = WheelMotob(motors, bb.time_step)
bb.motobs.append(wheel_motob)
def main():
print("Press the button")
Led().light_on()
ZumoButton().wait_for_press()
Led().light_off()
print("Button pressed")
# Sensors
camera_sensor = Camera(img_width=200, img_height=25)
reflectance_sensor = ReflectanceSensors()
ultrasonic_sensor = Ultrasonic()
# Other
led = Led()
led.light_off()
# Sensobs
camera_sensob = CameraSensob(camera_sensor)
reflectance_sensob = ReflectanceSensob(reflectance_sensor)
ultrasonic_sensob = Sensob(ultrasonic_sensor)
# Motobs
motob = Motob()
# Controller
bbcon = Bbcon()
# Behaviors
moveForward_behavior = MoveForward(None, 1, bbcon)
avoidCollision_behavior = AvoidCollision(ultrasonic_sensob, 4, bbcon)
followColor_behavior = FollowColor(camera_sensob, 6, bbcon)
pauseAtLines_behavior = PauseAtLines(reflectance_sensob, 8, bbcon)
stopCloseColor_behavior = StopCloseColor(camera_sensob, 10, bbcon)
# Add all sensobs to controller
bbcon.add_sensob(camera_sensob)
bbcon.add_sensob(reflectance_sensob)
bbcon.add_sensob(ultrasonic_sensob)
# Add all Behaviors to controller
bbcon.add_behavior(avoidCollision_behavior)
bbcon.add_behavior(moveForward_behavior)
bbcon.add_behavior(followColor_behavior)
bbcon.add_behavior(pauseAtLines_behavior)
bbcon.add_behavior(stopCloseColor_behavior)
bbcon.activate_all_behaviors()
# Add all motobs to controller
bbcon.add_motob(motob)
print("starting")
try:
while bbcon.active:
bbcon.run_one_timestep()
except:
print("Failed")
motob.stop()
print(sys.exc_info()[0])
