If host or port is omitted 'localhost' and 1024 are assumed as default
"""
import os
import sys
import math
sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
from robotsoccer import SoccerClient
if __name__ == '__main__':
host = sys.argv[1] if len(sys.argv) > 1 else 'localhost'
port = int(sys.argv[2]) if len(sys.argv) > 2 else 1024
sc = SoccerClient()
sc.connect(host, port)
# Action loop
while True:
# Gets the angle between robot and ball
ball_angle = sc.get_ball_angle()
# Gets the angle between goal and robot
target_angle = sc.get_target_angle()
# Defines an action based on ball_angle and target_angle, resulting in
# a value of force for left and right robot's motors
angle = ball_angle - target_angle
if angle < -math.pi:
angle += 2 * math.pi
def main():
host = sys.argv[1] if len(sys.argv) > 1 else 'localhost'
port = int(sys.argv[2]) if len(sys.argv) > 2 else 1024
if port == 1024:
trainingDataFile = open('soccer_blue.lrn', 'w')
elif port == 1025:
trainingDataFile = open('soccer_yellow.lrn', 'w')
sc = SoccerClient()
sc.connect(host, port)
#conjuntos fuzzy de distância da bola
ballVeryClose = fuzzyLeftTrapezoid(50, 90, 0, 1500)
ballClose = fuzzyTrapezoid(80, 150, 250, 400, 0, 1500)
ballFar = fuzzyRightTrapezoid(370, 500, 0, 1500)
#conjuntos fuzzy do ângulo em relação à bola
ballLeftBack = fuzzyLeftTrapezoid(-math.pi, -math.pi / 2, -math.pi,
math.pi)
ballLeftFront = fuzzyLambda(-3 * math.pi / 4, -math.pi / 2, 0, -math.pi,
math.pi)
ballForward = fuzzyLambda(-math.pi / 4, 0, math.pi / 4, -math.pi, math.pi)
ballRightFront = fuzzyLambda(0, math.pi / 2, 3 * math.pi / 4, -math.pi,
math.pi)
ballRightBack = fuzzyRightTrapezoid(math.pi / 2, math.pi, -math.pi,
math.pi)
#conjuntos fuzzy do ângulo em relação ao gol
targetLeftBack = fuzzyLeftTrapezoid(-math.pi, -math.pi / 2, -math.pi,
math.pi)
targetLeftFront = fuzzyLambda(-3 * math.pi / 4, -math.pi / 2, 0, -math.pi,
math.pi)
targetForward = fuzzyLambda(-math.pi / 2, 0, math.pi / 2, -math.pi,
math.pi)
targetRightFront = fuzzyLambda(0, math.pi / 2, 3 * math.pi / 4, -math.pi,
math.pi)
targetRightBack = fuzzyRightTrapezoid(math.pi / 2, math.pi, -math.pi,
math.pi)
#conjuntos fuzzy do ângulo do robô(saída)
robotLeftBack = fuzzyLambda(-math.pi, -3 * math.pi / 4, -math.pi / 2,
-math.pi, math.pi)
robotLeftFront = fuzzyLambda(-3 * math.pi / 4, -math.pi / 2, 0, -math.pi,
math.pi)
robotForward = fuzzyLambda(-math.pi / 2, 0, math.pi / 2, -math.pi, math.pi)
robotRightFront = fuzzyLambda(0, math.pi / 2, 3 * math.pi / 4, -math.pi,
math.pi)
robotRightBack = fuzzyLambda(math.pi / 2, 3 * math.pi / 4, math.pi,
-math.pi, math.pi)
rulesMatrix = numpy.zeros((3, 5, 5),
dtype=object) # Make a 3 by 5 by 5 rules matrix
#[distância, angulo bola, angulo gol]
#very close
rulesMatrix[0][0][0] = robotLeftBack
rulesMatrix[0][0][1] = robotLeftFront
rulesMatrix[0][0][2] = robotLeftFront
rulesMatrix[0][0][3] = robotLeftFront
rulesMatrix[0][0][4] = robotLeftFront
rulesMatrix[0][1][0] = robotLeftBack
rulesMatrix[0][1][1] = robotLeftFront
rulesMatrix[0][1][2] = robotLeftBack
rulesMatrix[0][1][3] = robotLeftBack
rulesMatrix[0][1][4] = robotLeftBack
rulesMatrix[0][2][0] = robotLeftBack
rulesMatrix[0][2][1] = robotLeftFront
rulesMatrix[0][2][2] = robotForward
rulesMatrix[0][2][3] = robotRightFront
rulesMatrix[0][2][4] = robotRightBack
rulesMatrix[0][3][0] = robotRightBack
rulesMatrix[0][3][1] = robotRightBack
rulesMatrix[0][3][2] = robotRightBack
rulesMatrix[0][3][3] = robotRightFront
rulesMatrix[0][3][4] = robotRightBack
rulesMatrix[0][4][0] = robotRightFront
rulesMatrix[0][4][1] = robotRightFront
rulesMatrix[0][4][2] = robotRightFront
rulesMatrix[0][4][3] = robotRightFront
rulesMatrix[0][4][4] = robotRightBack
#close
rulesMatrix[1][0][0] = robotLeftBack
rulesMatrix[1][0][1] = robotLeftBack
rulesMatrix[1][0][2] = robotLeftBack
rulesMatrix[1][0][3] = robotLeftFront
rulesMatrix[1][0][4] = robotLeftFront
rulesMatrix[1][1][0] = robotForward
rulesMatrix[1][1][1] = robotForward
rulesMatrix[1][1][2] = robotLeftBack
rulesMatrix[1][1][3] = robotLeftBack
rulesMatrix[1][1][4] = robotLeftBack
rulesMatrix[1][2][0] = robotRightFront
rulesMatrix[1][2][1] = robotRightFront
rulesMatrix[1][2][2] = robotForward
rulesMatrix[1][2][3] = robotLeftFront
rulesMatrix[1][2][4] = robotLeftFront
rulesMatrix[1][3][0] = robotRightBack
rulesMatrix[1][3][1] = robotRightBack
rulesMatrix[1][3][2] = robotRightBack
rulesMatrix[1][3][3] = robotForward
rulesMatrix[1][3][4] = robotForward
rulesMatrix[1][4][0] = robotRightBack
rulesMatrix[1][4][1] = robotRightBack
rulesMatrix[1][4][2] = robotRightFront
rulesMatrix[1][4][3] = robotRightFront
rulesMatrix[1][4][4] = robotRightFront
#far
rulesMatrix[2][0][0] = robotLeftBack
rulesMatrix[2][0][1] = robotLeftBack
rulesMatrix[2][0][2] = robotLeftBack
rulesMatrix[2][0][3] = robotLeftBack
rulesMatrix[2][0][4] = robotLeftBack
rulesMatrix[2][1][0] = robotLeftFront
rulesMatrix[2][1][1] = robotLeftFront
rulesMatrix[2][1][2] = robotLeftFront
rulesMatrix[2][1][3] = robotLeftFront
rulesMatrix[2][1][4] = robotLeftFront
rulesMatrix[2][2][0] = robotForward
rulesMatrix[2][2][1] = robotForward
rulesMatrix[2][2][2] = robotForward
rulesMatrix[2][2][3] = robotForward
rulesMatrix[2][2][4] = robotForward
rulesMatrix[2][3][0] = robotRightFront
rulesMatrix[2][3][1] = robotRightFront
rulesMatrix[2][3][2] = robotRightFront
rulesMatrix[2][3][3] = robotRightFront
rulesMatrix[2][3][4] = robotRightFront
rulesMatrix[2][4][0] = robotRightBack
rulesMatrix[2][4][1] = robotRightBack
rulesMatrix[2][4][2] = robotRightBack
rulesMatrix[2][4][3] = robotRightBack
rulesMatrix[2][4][4] = robotRightBack
distanceFuzzySets = [ballVeryClose, ballClose, ballFar]
ballFuzzySets = [
ballLeftBack, ballLeftFront, ballForward, ballRightFront, ballRightBack
]
targetFuzzySets = [
targetLeftBack, targetLeftFront, targetForward, targetRightFront,
targetRightBack
]
robotFuzzySets = [
robotLeftBack, robotLeftFront, robotForward, robotRightFront,
robotRightBack
]
# Action loop
while True:
# Gets the angle between robot and ball
ball_angle = sc.get_ball_angle()
# Gets the angle between goal and robot
target_angle = sc.get_target_angle()
#gets the distance to the ball
ball_distance = sc.get_ball_distance()
inferedVector = [0] * NUMBER_OF_POINTS
#laço para determinar a força de disparo de cada regra e calcular o conjunto de inferencia fuzzy
for i in range(len(distanceFuzzySets)):
for j in range(len(ballFuzzySets)):
for k in range(len(targetFuzzySets)):
mi0 = distanceFuzzySets[i].membership(ball_distance)
if mi0 > 0:
mi1 = ballFuzzySets[j].membership(ball_angle)
#print(mi1)
if mi1 > 0:
mi2 = targetFuzzySets[k].membership(target_angle)
# print(mi2)
if mi2 > 0:
firingStrength = getFiringStrength(
distanceFuzzySets[i], ball_distance,
ballFuzzySets[j], ball_angle,
targetFuzzySets[k], target_angle)
inferedVector = fuzzyMaximum(
inferedVector,
cutOutputVector(rulesMatrix[i][j][k].set,
firingStrength))
out = defuzzification(inferedVector)
# converte ângulo do robô na força dos dois motores
force_left = (math.cos(out) - math.sin(out)) * 0.55
force_right = (math.cos(out) + math.sin(out)) * 0.55
trainingDataFile.write(
str(round(ball_distance, 5)) + " " + str(round(ball_angle, 5)) +
" " + str(round(target_angle, 5)) + " " +
str(round(force_left, 5)) + " " + str(round(force_right, 5)) +
"\n")
# Sends the action of robot to simulator
sc.act(force_left, force_right)
# Disconnects from match simulator (actually this line is never called)
sc.disconnect()
trainingDataFile.close()
def main():
host = sys.argv[1] if len(sys.argv) > 1 else 'localhost'
port = int(sys.argv[2]) if len(sys.argv) > 2 else 1024
if port == 1024:
trainingDataFile = open('soccer_blue.lrn', 'w')
elif port == 1025:
trainingDataFile = open('soccer_yellow.lrn', 'w')
sc = SoccerClient()
sc.connect(host, port)
#conjuntos fuzzy de distância da bola
ballVeryClose = fuzzyLeftTrapezoid(50,90,0,1500)
ballClose = fuzzyTrapezoid(80,150,250,400,0,1500)
ballFar = fuzzyRightTrapezoid(370,500,0,1500)
#conjuntos fuzzy do ângulo em relação à bola
ballLeftBack = fuzzyLeftTrapezoid(-math.pi, -math.pi/2, -math.pi, math.pi)
ballLeftFront = fuzzyLambda(-3*math.pi/4, -math.pi/2, 0, -math.pi, math.pi)
ballForward = fuzzyLambda(-math.pi/4, 0, math.pi/4, -math.pi, math.pi)
ballRightFront = fuzzyLambda(0, math.pi/2, 3*math.pi/4, -math.pi, math.pi)
ballRightBack = fuzzyRightTrapezoid(math.pi/2, math.pi, -math.pi, math.pi)
#conjuntos fuzzy do ângulo em relação ao gol
targetLeftBack = fuzzyLeftTrapezoid(-math.pi, -math.pi/2, -math.pi, math.pi)
targetLeftFront = fuzzyLambda(-3*math.pi/4, -math.pi/2, 0, -math.pi, math.pi)
targetForward = fuzzyLambda(-math.pi/2, 0, math.pi/2, -math.pi, math.pi)
targetRightFront = fuzzyLambda(0, math.pi/2, 3*math.pi/4, -math.pi, math.pi)
targetRightBack = fuzzyRightTrapezoid(math.pi/2, math.pi, -math.pi, math.pi)
#conjuntos fuzzy do ângulo do robô(saída)
robotLeftBack = fuzzyLambda(- math.pi, -3*math.pi/4, -math.pi/2, -math.pi, math.pi)
robotLeftFront = fuzzyLambda(-3*math.pi/4, -math.pi/2, 0, -math.pi, math.pi)
robotForward = fuzzyLambda(-math.pi/2, 0, math.pi/2, -math.pi, math.pi)
robotRightFront = fuzzyLambda(0, math.pi/2, 3*math.pi/4, -math.pi, math.pi)
robotRightBack = fuzzyLambda(math.pi/2, 3*math.pi/4, math.pi, -math.pi, math.pi)
rulesMatrix = numpy.zeros((3,5,5), dtype=object) # Make a 3 by 5 by 5 rules matrix
#[distância, angulo bola, angulo gol]
#very close
rulesMatrix[0][0][0] = robotLeftBack
rulesMatrix[0][0][1] = robotLeftFront
rulesMatrix[0][0][2] = robotLeftFront
rulesMatrix[0][0][3] = robotLeftFront
rulesMatrix[0][0][4] = robotLeftFront
rulesMatrix[0][1][0] = robotLeftBack
rulesMatrix[0][1][1] = robotLeftFront
rulesMatrix[0][1][2] = robotLeftBack
rulesMatrix[0][1][3] = robotLeftBack
rulesMatrix[0][1][4] = robotLeftBack
rulesMatrix[0][2][0] = robotLeftBack
rulesMatrix[0][2][1] = robotLeftFront
rulesMatrix[0][2][2] = robotForward
rulesMatrix[0][2][3] = robotRightFront
rulesMatrix[0][2][4] = robotRightBack
rulesMatrix[0][3][0] = robotRightBack
rulesMatrix[0][3][1] = robotRightBack
rulesMatrix[0][3][2] = robotRightBack
rulesMatrix[0][3][3] = robotRightFront
rulesMatrix[0][3][4] = robotRightBack
rulesMatrix[0][4][0] = robotRightFront
rulesMatrix[0][4][1] = robotRightFront
rulesMatrix[0][4][2] = robotRightFront
rulesMatrix[0][4][3] = robotRightFront
rulesMatrix[0][4][4] = robotRightBack
#close
rulesMatrix[1][0][0] = robotLeftBack
rulesMatrix[1][0][1] = robotLeftBack
rulesMatrix[1][0][2] = robotLeftBack
rulesMatrix[1][0][3] = robotLeftFront
rulesMatrix[1][0][4] = robotLeftFront
rulesMatrix[1][1][0] = robotForward
rulesMatrix[1][1][1] = robotForward
rulesMatrix[1][1][2] = robotLeftBack
rulesMatrix[1][1][3] = robotLeftBack
rulesMatrix[1][1][4] = robotLeftBack
rulesMatrix[1][2][0] = robotRightFront
rulesMatrix[1][2][1] = robotRightFront
rulesMatrix[1][2][2] = robotForward
rulesMatrix[1][2][3] = robotLeftFront
rulesMatrix[1][2][4] = robotLeftFront
rulesMatrix[1][3][0] = robotRightBack
rulesMatrix[1][3][1] = robotRightBack
rulesMatrix[1][3][2] = robotRightBack
rulesMatrix[1][3][3] = robotForward
rulesMatrix[1][3][4] = robotForward
rulesMatrix[1][4][0] = robotRightBack
rulesMatrix[1][4][1] = robotRightBack
rulesMatrix[1][4][2] = robotRightFront
rulesMatrix[1][4][3] = robotRightFront
rulesMatrix[1][4][4] = robotRightFront
#far
rulesMatrix[2][0][0] = robotLeftBack
rulesMatrix[2][0][1] = robotLeftBack
rulesMatrix[2][0][2] = robotLeftBack
rulesMatrix[2][0][3] = robotLeftBack
rulesMatrix[2][0][4] = robotLeftBack
rulesMatrix[2][1][0] = robotLeftFront
rulesMatrix[2][1][1] = robotLeftFront
rulesMatrix[2][1][2] = robotLeftFront
rulesMatrix[2][1][3] = robotLeftFront
rulesMatrix[2][1][4] = robotLeftFront
rulesMatrix[2][2][0] = robotForward
rulesMatrix[2][2][1] = robotForward
rulesMatrix[2][2][2] = robotForward
rulesMatrix[2][2][3] = robotForward
rulesMatrix[2][2][4] = robotForward
rulesMatrix[2][3][0] = robotRightFront
rulesMatrix[2][3][1] = robotRightFront
rulesMatrix[2][3][2] = robotRightFront
rulesMatrix[2][3][3] = robotRightFront
rulesMatrix[2][3][4] = robotRightFront
rulesMatrix[2][4][0] = robotRightBack
rulesMatrix[2][4][1] = robotRightBack
rulesMatrix[2][4][2] = robotRightBack
rulesMatrix[2][4][3] = robotRightBack
rulesMatrix[2][4][4] = robotRightBack
distanceFuzzySets = [ballVeryClose, ballClose, ballFar]
ballFuzzySets = [ballLeftBack, ballLeftFront, ballForward, ballRightFront, ballRightBack]
targetFuzzySets = [targetLeftBack, targetLeftFront, targetForward, targetRightFront, targetRightBack]
robotFuzzySets = [robotLeftBack, robotLeftFront, robotForward, robotRightFront, robotRightBack]
# Action loop
while True:
# Gets the angle between robot and ball
ball_angle = sc.get_ball_angle()
# Gets the angle between goal and robot
target_angle = sc.get_target_angle()
#gets the distance to the ball
ball_distance = sc.get_ball_distance()
inferedVector = [0]*NUMBER_OF_POINTS
#laço para determinar a força de disparo de cada regra e calcular o conjunto de inferencia fuzzy
for i in range(len(distanceFuzzySets)):
for j in range(len(ballFuzzySets)):
for k in range(len(targetFuzzySets)):
mi0 = distanceFuzzySets[i].membership(ball_distance)
if mi0 > 0:
mi1 = ballFuzzySets[j].membership(ball_angle)
#print(mi1)
if mi1 > 0:
mi2=targetFuzzySets[k].membership(target_angle)
# print(mi2)
if mi2 > 0:
firingStrength = getFiringStrength(distanceFuzzySets[i], ball_distance, ballFuzzySets[j], ball_angle, targetFuzzySets[k], target_angle)
inferedVector = fuzzyMaximum(inferedVector, cutOutputVector(rulesMatrix[i][j][k].set, firingStrength))
out = defuzzification(inferedVector)
# converte ângulo do robô na força dos dois motores
force_left = (math.cos(out) - math.sin(out))*0.55
force_right = (math.cos(out) + math.sin(out))*0.55
trainingDataFile.write(str(round(ball_distance,5))+" "+str(round(ball_angle,5))+" "+str(round(target_angle,5))+" "+str(round(force_left,5))+" "+str(round(force_right,5))+"\n")
# Sends the action of robot to simulator
sc.act(force_left, force_right)
# Disconnects from match simulator (actually this line is never called)
sc.disconnect()
trainingDataFile.close()
If host or port is omitted 'localhost' and 1024 are assumed as default
"""
import os
import sys
import math
sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
from robotsoccer import SoccerClient
if __name__ == '__main__':
host = sys.argv[1] if len(sys.argv) > 1 else 'localhost'
port = int(sys.argv[2]) if len(sys.argv) > 2 else 1024
sc = SoccerClient()
sc.connect(host, port)
# Action loop
while True:
# Gets the angle between robot and ball
ball_angle = sc.get_ball_angle()
# Gets the angle between goal and robot
target_angle = sc.get_target_angle()
# Defines an action based on ball_angle and target_angle, resulting in
# a value of force for left and right robot's motors
angle = ball_angle - target_angle
if angle < -math.pi:
angle += 2*math.pi
"robot_spin" : 0.0,
"ball_distance" : 0.0,
"obstacle_distance" : 0.0,
"target_distance" : 0.0,
"obstacle_angle" : 0.0
}
my_output = {
"r_right" : 0.0,
"r_left" : 0.0
}
if __name__ == '__main__':
host = sys.argv[1] if len(sys.argv) > 1 else 'localhost'
port = int(sys.argv[2]) if len(sys.argv) > 2 else 1024
sc = SoccerClient()
sc.connect(host, port)
# if you need only one calculation you do not need the while
while True:
# set input values
my_input["ball_angle"] = math.degrees(sc.get_ball_angle())
my_input["target_angle"] = math.degrees(sc.get_target_angle())
my_input["robot_spin"] = math.degrees(sc.get_spin())
my_input["ball_distance"] = sc.get_ball_distance()
my_input["obstacle_distance"] = sc.get_obstacle_distance()
my_input["target_distance"] = sc.get_target_distance()
my_input["obstacle_angle"] = math.degrees(sc.get_obstacle_angle())
# calculate
system_direction.calculate(my_input, my_output)
return args.host, args.port, args.ia
def save_output(*data):
"""
Writes output to a file
"""
with open('output.csv', 'w') as f:
csvwriter = csv.writer(f)
csvwriter.writerow(data)
host, port, choice = parse_host_port()
print("Iniciando conexão com o host %s, na porta %s" % (host,port))
sc = SoccerClient()
sc.connect(host, port)
IA = {
'fuzzy': lambda t, b, s: fuzzy_ia.next_action(t, b, s),
'spin': lambda t, b, s: (2., -2.),
'str8': lambda t, b, s: (0., 0.),
'crazy': lambda t, b, s: (1., 1.),
'neural': lambda t, b, s: neural_ia.next_action(t, b, s)
}
def print_info(l, r):
print("raw_target_angle: %f raw_ball_angle: %f" %
(sc.get_target_angle(), sc.get_ball_angle()))
print("target_angle: %d ball_angle: %d left: %f right: %f" %
(target_angle(), ball_angle(), l, r))
