def lineCollision():
reflect = ReflectanceSensors()
ZumoButton().wait_for_press()
motor = Motors()
stuck = CheckStuck()
ultra = Ultrasonic()
proxim = IRProximitySensor()
sensobCol = Sensob()
sensobCol.set_sensors([ultra, proxim])
motob = Motob(motor=motor)
sensobLine = Sensob()
sensobLine.set_sensors([reflect])
arb = Arbitrator(motob=motob)
bbcon = BBCON(arbitrator=arb, motob=motob)
bbcon.set_checkStucker(stuck)
line = LineFollow(1, [sensobLine])
col = CollisionAvoidance(1, [sensobCol])
bbcon.add_behavior(line)
bbcon.add_behavior(col)
bbcon.add_sensob(sensobCol)
bbcon.add_sensob(sensobLine)
count = 0
while count < 20:
bbcon.run_one_timestep()
count += 1
def trackTest():
ZumoButton().wait_for_press()
motor = Motors()
ultra = Ultrasonic()
camera = Camera()
stuck = CheckStuck()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([ultra, camera])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
b = TrackObject(priority=1, sensobs=[sensob])
bbcon.set_checkStucker(stuck)
bbcon.add_behavior(b)
bbcon.activate_behavior(0)
bbcon.add_sensob(sensob)
timesteps = 0
while timesteps < 25:
bbcon.run_one_timestep()
timesteps += 1
def lineTest():
reflect = ReflectanceSensors()
ZumoButton().wait_for_press()
motor = Motors()
stuck = CheckStuck()
camera = Camera()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([reflect])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
bbcon.add_sensob(sensob)
bbcon.set_checkStucker(stuck)
b = LineFollow(1, [sensob])
bbcon.add_behavior(b)
timesteps = 0
while timesteps < 30:
bbcon.run_one_timestep()
timesteps += 1
def systemTest():
motor = Motors()
ultra = Ultrasonic()
proxim = IRProximitySensor()
camera = Camera()
reflectance = ReflectanceSensors()
motob = Motob(motor)
arbitrator = Arbitrator(motob)
stuck = CheckStuck()
collisionSensob = Sensob()
collisionSensob.set_sensors([ultra, proxim])
lineSensob = Sensob()
lineSensob.set_sensors([reflectance])
trackSensob = Sensob()
trackSensob.set_sensors([ultra, camera])
b = CollisionAvoidance(1, [collisionSensob])
f = LineFollow(1, [lineSensob])
t = TrackObject(1, [trackSensob])
#print(collisionSensob.sensors)
#print(lineSensob.sensors)
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
bbcon.set_checkStucker(stuck)
bbcon.add_behavior(b)
bbcon.add_behavior(f)
bbcon.add_behavior(t)
#bbcon.activate_behavior(0)
#bbcon.activate_behavior(1)
#bbcon.activate_behavior(2)
bbcon.add_sensob(collisionSensob)
bbcon.add_sensob(lineSensob)
bbcon.add_sensob(trackSensob)
runTimesteps(bbcon, 100)