def calculate_last_drive(coords):
direction = data_storage.get_direction()
if direction == 0:
last_drive = [coords[0], coords[1] - 1, coords[2]]
elif direction == 1:
last_drive = [coords[0] - 1, coords[1], coords[2]]
elif direction == 2:
last_drive = [coords[0], coords[1] + 1, coords[2]]
elif direction == 3:
last_drive = [coords[0] + 1, coords[1], coords[2]]
return last_drive
def update_coords(coords):
direction = data_storage.get_direction()
new_coords = None
if direction == 0:
new_coords = [coords[0], coords[1] + 1, coords[2]]
elif direction == 1:
new_coords = [coords[0] + 1, coords[1], coords[2]]
elif direction == 2:
new_coords = [coords[0], coords[1] - 1, coords[2]]
elif direction == 3:
new_coords = [coords[0] - 1, coords[1], coords[2]]
return new_coords
def update_direction(rotation):
direction = data_storage.get_direction()
if rotation == 90:
direction += 1
elif rotation == 180:
direction += 2
elif rotation == -90:
direction -= 1
if direction > 4:
direction -= 4
elif direction < 0:
direction += 4
data_storage.set_direction(direction)
def calculate_action(parameter_wallsdata, parameter_victimsdata,
parameter_environmentdata, parameter_motorsdata,
parameter_current_tile, parameter_tasks):
global glob_wallsdata
global glob_victimsdata
global glob_environmentdata
global glob_motorsdata
global direction
global status
global wanted_direction
glob_wallsdata = parameter_wallsdata
glob_victimsdata = parameter_victimsdata
glob_environmentdata = parameter_environmentdata
glob_motorsdata = parameter_motorsdata
current_tile = parameter_current_tile
tasks = parameter_tasks
status = 0
direction = data_storage.get_direction()
wanted_direction = data_storage.get_wanted_direction()
if status == 0:
check_rotation(glob_environmentdata)
if status == 0:
black_tile(glob_environmentdata)
if status == 0:
ramp_check(glob_environmentdata)
if status == 0:
map_update(glob_wallsdata)
if status == 0:
victims_check(glob_victimsdata)
if status == 0:
check_checkpoint(glob_environmentdata)
data_storage.set_direction(direction)
return current_tile, tasks
def analyze(data, which_type):
if which_type == 'all':
threshold = 10
walls = {}
if data['ir']['left_back'] <= threshold and data['ir'][
'left_front'] <= threshold:
walls['left'] = 1
else:
walls['left'] = 0
if data['ir']['front_left'] <= threshold and data['ir'][
'front_left'] <= threshold:
walls['front'] = 1
else:
walls['front'] = 0
if data['ir']['right_front'] <= threshold and data['ir'][
'right_back'] <= threshold:
walls['right'] = 1
else:
walls['right'] = 0
walls['back'] = 0
direction = data_storage.get_direction()
if direction == 0:
pass
elif direction == 1:
temp_walls = walls
walls['front'] = temp_walls['left']
walls['right'] = temp_walls['front']
walls['back'] = temp_walls['right']
walls['left'] = temp_walls['back']
elif direction == 2:
temp_walls = walls
walls['front'] = temp_walls['back']
walls['right'] = temp_walls['left']
walls['back'] = temp_walls['front']
walls['left'] = temp_walls['right']
elif direction == 3:
temp_walls = walls
walls['front'] = temp_walls['right']
walls['right'] = temp_walls['back']
walls['back'] = temp_walls['left']
walls['left'] = temp_walls['front']
temp_border = 25
victims = {}
if data['temp']['left_back'] >= temp_border and data['temp'][
'left_front'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'left'
victims['specs'] = None
elif data['temp']['right_front'] >= temp_border and data['temp'][
'right_back'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'right'
victims['specs'] = None
else:
victims['type'] = None
victims['direction'] = None
victims['specs'] = None
grayscale_border = 25
checkpoint_border = 75
tilt_border = 10
environment = {}
if data['grayscale']['grayscale'] >= checkpoint_border:
environment['floor'] = 'black'
elif not data['grayscale']['grayscale'] > checkpoint_border and data[
'grayscale']['grayscale'] >= grayscale_border:
environment['floor'] = 'checkpoint'
else:
environment['floor'] = 'checkpoint'
if data['gyro']['tilt'] >= tilt_border:
environment['tilt'] = 'ramp_up'
elif data['gyro']['tilt'] <= (tilt_border * -1):
environment['tilt'] = 'ramp_down'
else:
environment['tilt'] = 'straight'
environment['rotation'] = data['gyro']['rotation']
return walls, victims, environment, data['encoder']
elif which_type == 'walls':
threshold = 10
walls = {}
if data['ir']['left_back'] <= threshold and data['ir'][
'left_front'] <= threshold:
walls['left'] = 1
else:
walls['left'] = 0
if data['ir']['front_left'] <= threshold and data['ir'][
'front_left'] <= threshold:
walls['front'] = 1
else:
walls['front'] = 0
if data['ir']['right_front'] <= threshold and data['ir'][
'right_back'] <= threshold:
walls['right'] = 1
else:
walls['right'] = 0
walls['back'] = 0
direction = data_storage.get_direction()
if direction == 0:
pass
elif direction == 1:
temp_walls = walls
walls['front'] = temp_walls['left']
walls['right'] = temp_walls['front']
walls['back'] = temp_walls['right']
walls['left'] = temp_walls['back']
elif direction == 2:
temp_walls = walls
walls['front'] = temp_walls['back']
walls['right'] = temp_walls['left']
walls['back'] = temp_walls['front']
walls['left'] = temp_walls['right']
elif direction == 3:
temp_walls = walls
walls['front'] = temp_walls['right']
walls['right'] = temp_walls['back']
walls['back'] = temp_walls['left']
walls['left'] = temp_walls['front']
return walls
elif which_type == 'victims':
temp_border = 25
victims = {}
if data['temp']['left_back'] >= temp_border and data['temp'][
'left_front'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'left'
victims['specs'] = None
elif data['temp']['right_front'] >= temp_border and data['temp'][
'right_back'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'right'
victims['specs'] = None
else:
victims['type'] = None
victims['direction'] = None
victims['specs'] = None
return victims
elif which_type == 'environment':
grayscale_border = 75
tilt_border = 10
environment = {}
if data['grayscale']['grayscale'] >= grayscale_border:
environment['floor'] = 'black'
else:
environment['floor'] = 'white'
if data['gyro']['tilt'] >= tilt_border:
environment['tilt'] = 'ramp_up'
elif data['gyro']['tilt'] <= (tilt_border * -1):
environment['tilt'] = 'ramp_down'
else:
environment['tilt'] = 'straight'
environment['rotation'] = data['gyro']['rotation']
return environment
elif which_type == 'motors':
return data['encoder']
# maze 2020 logic module
# Setup
import data_storage
import tile
import wall
glob_wallsdata = None
glob_victimsdata = None
glob_environmentdata = None
glob_motorsdata = None
current_tile = None
tasks = None
status = 0
direction = data_storage.get_direction()
wanted_direction = data_storage.get_wanted_direction()
# Modules
def check_rotation(environmentdata):
global status
threshold = 15
if environmentdata['rotation'] <= data_storage.get_wanted_rotation(
) - threshold:
tasks.add('Adjust more')
pass
elif environmentdata['rotation'] >= data_storage.get_wanted_rotation(
) + threshold:
tasks.add('Adjust less')
pass
def analyze(data, which_type):
print('Arduinodata analyze function started')
if which_type == 'all':
print('Type is all')
threshold = 10
walls = {}
print('Infrared value left_back is:')
print(data['ir']['left_back'])
print('Infrared value left_front is:')
print(data['ir']['left_front'])
if data['ir']['left_back'] <= threshold and data['ir'][
'left_front'] <= threshold:
print('There is a freaking WALL on the left!')
walls['left'] = 1
else:
print('There is no wall on the left!')
walls['left'] = 0
print('Infrared value front_left is:')
print(data['ir']['front_left'])
print('Infrared value front_right is:')
print(data['ir']['front_right'])
if data['ir']['front_left'] <= threshold and data['ir'][
'front_right'] <= threshold:
print('There is a freaking WALL in the front')
walls['front'] = 1
else:
print('There is no wall in the front!')
walls['front'] = 0
print('Infrared value right_front is:')
print(data['ir']['right_front'])
print('Infrared value right_back is:')
print(data['ir']['right_back'])
if data['ir']['right_front'] <= threshold and data['ir'][
'right_back'] <= threshold:
print('There is a freaking WALL on the right!')
walls['right'] = 1
else:
print('There is no wall on the right!')
walls['right'] = 0
walls['back'] = 0
print(
'There is no wall in the back because that is where we are from!')
print('Getting direction out of data_storage module')
direction = data_storage.get_direction()
print(direction)
print('Calculating walls for the new direction')
if direction == 0:
print('Direction is already correct!')
pass
elif direction == 1:
print('Turn everything by 90 degrees')
temp_walls = walls
walls['front'] = temp_walls['left']
walls['right'] = temp_walls['front']
walls['back'] = temp_walls['right']
walls['left'] = temp_walls['back']
print(walls)
elif direction == 2:
print('Turn everything by 180 degrees')
temp_walls = walls
walls['front'] = temp_walls['back']
walls['right'] = temp_walls['left']
walls['back'] = temp_walls['front']
walls['left'] = temp_walls['right']
print(walls)
elif direction == 3:
print('Turn everything by 270 degrees')
temp_walls = walls
walls['front'] = temp_walls['right']
walls['right'] = temp_walls['back']
walls['back'] = temp_walls['left']
walls['left'] = temp_walls['front']
print(walls)
temp_border = 25
victims = {}
if data['temp']['left_back'] >= temp_border and data['temp'][
'left_front'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'left'
victims['specs'] = None
elif data['temp']['right_front'] >= temp_border and data['temp'][
'right_back'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'right'
victims['specs'] = None
else:
victims['type'] = None
victims['direction'] = None
victims['specs'] = None
grayscale_border = 25
checkpoint_border = 75
tilt_border = 10
environment = {}
if data['grayscale']['grayscale'] >= checkpoint_border:
environment['floor'] = 'black'
elif not data['grayscale']['grayscale'] > checkpoint_border and data[
'grayscale']['grayscale'] >= grayscale_border:
environment['floor'] = 'checkpoint'
else:
environment['floor'] = 'checkpoint'
if data['gyro']['tilt'] >= tilt_border:
environment['tilt'] = 'ramp_up'
elif data['gyro']['tilt'] <= (tilt_border * -1):
environment['tilt'] = 'ramp_down'
else:
environment['tilt'] = 'straight'
environment['rotation'] = data['gyro']['rotation']
return walls, victims, environment, data['encoder']
elif which_type == 'walls':
threshold = 10
walls = {}
if data['ir']['left_back'] <= threshold and data['ir'][
'left_front'] <= threshold:
walls['left'] = 1
else:
walls['left'] = 0
if data['ir']['front_left'] <= threshold and data['ir'][
'front_left'] <= threshold:
walls['front'] = 1
else:
walls['front'] = 0
if data['ir']['right_front'] <= threshold and data['ir'][
'right_back'] <= threshold:
walls['right'] = 1
else:
walls['right'] = 0
walls['back'] = 0
direction = data_storage.get_direction()
if direction == 0:
pass
elif direction == 1:
temp_walls = walls
walls['front'] = temp_walls['left']
walls['right'] = temp_walls['front']
walls['back'] = temp_walls['right']
walls['left'] = temp_walls['back']
elif direction == 2:
temp_walls = walls
walls['front'] = temp_walls['back']
walls['right'] = temp_walls['left']
walls['back'] = temp_walls['front']
walls['left'] = temp_walls['right']
elif direction == 3:
temp_walls = walls
walls['front'] = temp_walls['right']
walls['right'] = temp_walls['back']
walls['back'] = temp_walls['left']
walls['left'] = temp_walls['front']
return walls
elif which_type == 'victims':
temp_border = 25
victims = {}
if data['temp']['left_back'] >= temp_border and data['temp'][
'left_front'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'left'
victims['specs'] = None
elif data['temp']['right_front'] >= temp_border and data['temp'][
'right_back'] >= temp_border:
victims['type'] = 'heat'
victims['direction'] = 'right'
victims['specs'] = None
else:
victims['type'] = None
victims['direction'] = None
victims['specs'] = None
return victims
elif which_type == 'environment':
grayscale_border = 75
tilt_border = 10
environment = {}
if data['grayscale']['grayscale'] >= grayscale_border:
environment['floor'] = 'black'
else:
environment['floor'] = 'white'
if data['gyro']['tilt'] >= tilt_border:
environment['tilt'] = 'ramp_up'
elif data['gyro']['tilt'] <= (tilt_border * -1):
environment['tilt'] = 'ramp_down'
else:
environment['tilt'] = 'straight'
environment['rotation'] = data['gyro']['rotation']
return environment
elif which_type == 'motors':
return data['encoder']