FastMoveToFinalPointTask(2.05, 0.43, -1.57),
OpenCollectorTask(213),
SlowMoveToIntermediaryPointTask(2.125, 0.43, -1.57),
SlowMoveToIntermediaryPointTask(2.125, 0.26, -1.57),
FastMoveToFinalPointTask(2.12, 0.30, -1.57),
TakeCubesTask(3),
TakeCubesTask(2),
FastMoveToFinalPointTask(2.12, 0.325, -1.57),
OpenCollectorTask(143),
FastMoveToFinalPointTask(2.12, 0.31, -1.57),
TakeCubesTask(1),
SuperFastMoveToIntermediaryPointTask(2.125, 0.43, -1.57),
SuperFastMoveToIntermediaryPointTask(1.28, 0.46, -1.57)]}]
stm = multiprocessing.Process(target=stmDriver.stmMainLoop, args=(input_command_queue,reply_to_fsm_queue, reply_to_localization_queue))
localisation = multiprocessing.Process(target=localisation.main, args=(input_command_queue,reply_to_localization_queue, current_coordinatess,correction_performed, start_position, current_coordinatess_from_robot,check_start_time))
stm.start()
#time.sleep(2)
localisation.start()
states_list = [
InitializeRobotState(),
#BrokeMiddleWallState(),
CloseDoorsState()]
#CollectCubesStates(),
#CollectCubesStates(),
#UnloadCubesState(15),
#CollectCubesStates(),
#DragCubesState(),
#UnloadCubesState(15)]
'''states_list = [InitializeRobotState(), TestState()]'''
MainState(states_list).run_game()
FastMoveToFinalPointTask(2.12, 0.322, -1.57),
TakeCubesTask(2),
FastMoveToFinalPointTask(2.12, 0.35, -1.57),
WideOpenCollectorTask(133),
FastMoveToFinalPointTask(2.12, 0.333, -1.57),
TakeCubesTask(1),
SuperFastMoveToIntermediaryPointTask(2.12, 0.43, -1.57)
]
}]
stm = multiprocessing.Process(target=stmDriver.stmMainLoop,
args=(input_command_queue, reply_to_fsm_queue,
reply_to_localization_queue))
localisation = multiprocessing.Process(
target=localisation.main,
args=(input_command_queue, reply_to_localization_queue,
current_coordinatess, correction_performed, start_position,
current_coordinatess_from_robot, check_start_time))
stm.start()
#time.sleep(2)
localisation.start()
states_list = [
InitializeRobotState(),
#BrokeMiddleWallState(),
CloseDoorsState(),
CollectCubesStates(),
DragCubesState(),
UnloadCubesState(15)
]
'''states_list = [InitializeRobotState(), TestState()]'''
MainState(states_list).run_game()