def __init__(self):
if arduino.get_bump()[1]:
self.sign = -1
elif arduino.get_bump()[0]:
self.sign = 1
else:
self.sign = np.sign(arduino.get_ir()[2] - arduino.get_ir()[1])
self.midtime = time.time() + constants.herp_derp_first_time
def next(self, time_left):
"""Superclass method to execute appropriate event handlers and actions."""
irs = arduino.get_ir()
if any(arduino.get_bump()[0:2]) or irs[1] > 1 or irs[2] > 1:
return self.on_block()
elif any(arduino.get_bump()[2:4]) or irs[0] > 1 or irs[3] > 1:
return self.on_stuck()
elif time_left < constants.dump_time and kinect.yellow_walls:
return self.on_yellow()
elif (time_left >= constants.dump_time and kinect.balls
and not variables.ignore_balls
and not variables.ignore_balls_until_yellow):
return self.on_ball()
return self.default_action()
def __init__(self):
variables.ball_attempts += 1
triggered_bump = np.where(arduino.get_bump())[0]
triggered_ir = np.where(np.array(arduino.get_ir()) > constants.ir_stuck_threshold)[0]
if (np.random.rand() < constants.probability_to_use_bump
or not len(triggered_ir)) and len(triggered_bump):
# only bump sensors are triggered, or both types are triggered and we randomly chose to look at bump
choice = random.choice(triggered_bump)
self.trigger_released = lambda: (not arduino.get_bump()[choice])
self.escape_angle = constants.bump_sensor_angles[choice] # randomly pick a triggered bump sensor
elif len(triggered_ir):
# only IR senors are triggered, or both types are triggered and we randomly chose to look at IR
choice = random.choice(triggered_ir)
self.trigger_released = lambda: (arduino.get_ir()[choice] < constants.ir_unstuck_threshold)
self.escape_angle = constants.ir_sensor_angles[choice] # randomly pick a triggered IR sensor
else:
self.escape_angle = None # oops, not good style
if self.escape_angle is not None:
self.escape_angle += random.triangular(-constants.unstick_angle_offset_range, constants.unstick_angle_offset_range) # add some randomness
self.unstick_complete = False
self.stop_time = time.time() + constants.unstick_wiggle_period
def on_stuck(self):
if ((time.time() - self.time_last_unstuck > constants.wall_stuck_timeout)
or any(arduino.get_bump()[2:4])):
# if this was called by an IR, require stricter conditions
return maneuvering.Unstick()
return self.follow()
def on_block(self): # ignore front top right bump sensor
if arduino.get_bump()[1]:
return maneuvering.HerpDerp()
return self.follow()
