from fsm.functions import (
createState, createFSM,
addTransition, addStates,
setInitialState, readWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, communicate)
# Import functions we've written
from functions import (detectTouch, touchDelay)
## CREATE STATES ##
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
# Create states for waiting for touch
waitSittingState3 = createState("waitSittingState3", lambda : None)
waitSittingState2 = createState("waitSittingState2", lambda : None)
waitSittingState = createState("waitSittingState", lambda : None)
# Create communcationsstates
sendStandStatus = createState("sendStandStatus" ,
lambda: communicate("puff", "Stand"))
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (startWalking, turnHead, setCamera, kick, say, setLED,
setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (averageLook, lookAtBall, largestBall, positiveYaw,
negativeYaw, zeroYaw, switchCamera, entryTime,
currentTime, cameraDelay, closeToFeet, leftFoot,
rightFoot, farNegativeYaw, farPositiveYaw, lookAtBall2,
seeGoal)
#create states
rotateLeftState = createState("rotateLeftState",
lambda: setWalkVelocity(0, 0, 0.15))
rotateRightState = createState("rotateRightState",
lambda: setWalkVelocity(0, 0, -0.15))
archLeftState = createState("archLeftState",
lambda: setWalkVelocity(0.65, 0, 0.15))
archRightState = createState("archRightState",
lambda: setWalkVelocity(0.65, 0, -0.15))
walkToBallState = createState("walkToBallState",
lambda: setWalkVelocity(0.6, 0, 0))
watchBallState = createState("watchBallState", lambda wm: lookAtBall2(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
setBottomCamState = createState("setBottomCamState",
lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState",
lambda: setLED("eyes", 1, 0, 0))
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, say, setLED, setWalkVelocity,
stopWalking)
from followBallFSM import (followBallFSM, rotateLeftState, rotateRightState,
walkToBallState, watchBallState, stopWalkingState,
stopWalkingState2, followBallFSM)
def detectTouch(wm):
return readWM(wm, "tactile", "middle")
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
mainFSM = createFSM("mainFSM")
addStates(mainFSM, waitSittingState, sitState, restState, standState,
shutdownState, followBallFSM)
setInitialState(mainFSM, waitSittingState)
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, followBallFSM)
addTransition(followBallFSM, detectTouch, sitState)
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking)
# Import FSM
from lookBallFSM import (lookBallFSM)
from kickBallFSM import (kickBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState2", stopWalking)
resetKickBallState = createState("resetKickBallState", lambda: resetSubFSM(kickBallFSM))
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
if currentTime(wm) - entryTime(wm) >= 5:
return True
else:
return False
def uTurnTime(wm):
if currentTime(wm) - entryTime(wm) >= 17:
return True
else:
return False
## CREATE STATES ##
sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
walkState = createState("walkState", startWalking)
stopWalkState = createState("stopWalkState", stopWalking)
stopWalk2State = createState("stopWalk2State", stopWalking)
rotateState = createState("rotateState", lambda: setWalkVelocity(0, 0, 0.5))
uTurnState = createState("uTurnState", lambda: setWalkVelocity(1, 0, 0.2))
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
# Create states for talking
sayLetsWalkState = createState("sayLetsWalkState", lambda: say("Hej Yousif!"))
sayRotateState = createState("sayRotateState", lambda: say("spinn!"))
sayUTurnState = createState("sayUTurnState", lambda: say("u turn!"))
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition,
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (detectTouch)
# Create states
waitSittingState = createState("waitSittingState", lambda : None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
circleLeftState = createState("circleLeftState", lambda: setWalkVelocity(0, 1, -0.45))
circleRightState = createState("circleRightState", lambda: setWalkVelocity(0, 1, 0.45))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, circleLeftState)
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (seeBall, noSeeBall, shakeHeadTime, largestBall,
averageLook, lookAtBall, rotateTime, entryTime, currentTime,
cameraDelay, headTurning, lookAtBall2)
#Create States
shakeHeadState = createState("shakeHeadState", lambda wm: headTurning(wm))
shakeHeadState2 = createState("shakeHeadState2", lambda wm: headTurning(wm))
setTopCameraState = createState("setTopCameraState", lambda : setCamera("top"))
setBottomCameraState = createState("setBottomCameraState", lambda : setCamera("bottom"))
setTopCameraState2 = createState("setTopCameraState2", lambda : setCamera("top"))
lookAtBallState = createState("lookAtBallState", lambda wm : lookAtBall2(wm))
rotateState = createState("rotateState", lambda : setWalkVelocity(0, 0, 0.5))
bottomLedState = createState("bottomLedState", lambda : setLED("eyes", 1, 0, 0)) # Red
topLedState = createState("topLedState", lambda : setLED("eyes", 0, 1, 0)) # Green
topLedState2 = createState("topLedState2", lambda : setLED("eyes", 0, 1, 0)) # Green
stopWalkState = createState("stopWalkState", stopWalking)
# FSM for searching for the ball
lookBallFSM = createFSM("lookBallFSM")
from fsm.functions import (createState, createFSM, addTransition,
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (detectTouch, seeGoal, seeGoalLeft, seeGoalRight,
seeGoalSingle, lookForGoal, seeBall, oneStep, leftFoot, rightFoot,
betweenFeet, seeNao)
# Create states
circleLeftState = createState("circleLeftState", lambda: setWalkVelocity(0, 1, -0.45))
circleRightState = createState("circleRightState", lambda: setWalkVelocity(0, 1, 0.45))
lookUpState = createState("lookUpState", lambda wm: lookUp(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopRotateState = createState("stopRotateState", stopWalking)
setTopCameraState = createState("setTopCameraState", lambda: setCamera("top"))
topLedState = createState("topLedState", lambda: setLED("eyes", 0, 1, 0)) # Green
lookStraightState = createState("lookStraightState", lambda: turnHead(0.25, 0))
standState = createState("standState", stopWalking)
leftStepState = createState("leftStepState", lambda: setWalkVelocity(0, 0.5 ,0))
rightStepState = createState("rightStepState", lambda: setWalkVelocity(0, -0.5, 0))
# Transitions for the findGoalFSM
addTransition(standState, leftFoot, leftStepState)
addTransition(standState, rightFoot, rightStepState)
# Import the FSM functions
from fsm.functions import (
createState, createFSM,
addTransition, addStates,
setInitialState)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown)
# Create states
sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
# Create a state which commands the robot to say "Hello World!"
sayState = createState("sayState", lambda: say("Hello World"))
# Add transitions between states
addTransition(standState, lambda wm: True, sayState)
addTransition(sayState, lambda wm: True, sitState)
addTransition(sitState, lambda wm: True, restState)
addTransition(restState, lambda wm: True, shutdownState)
# Create the FSM and add the states created above
myFSM = createFSM("fsm")
addStates(myFSM, standState, sayState, sitState, restState, shutdownState)
# Set the initial state to standState
setInitialState(myFSM, standState)
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking, communicate)
# Import FSM
from lookBallFSM import (lookBallFSM)
from goToBallFSM import (goToBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall, closeToFeet, seeGoal, oneKick,
waitForSit, waitForStand, waitForKick, waitForFindBall)
# Create states
waitSittingState = createState("waitSittingState", lambda : None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState", stopWalking)
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState", lambda: resetSubFSM(goToBallFSM))
# States for communication
robot = "david"
sendSitStatus = createState("sendSitStatus" ,
# Import functions we've written
from functions import (detectTouch, touchDelay, waitForSit, seeBall, noSeeBall, closeToFeet,
seeNao, oneKick, cameraDelay)
# Import FSM
from lookBallFSM import (lookBallFSM)
from goToBallFSM import (goToBallFSM)
from findNaoFSM import (findNaoFSM)
from kickBallFSM import (kickBallFSM)
## CREATE STATES ##
standState = createState("standState", stand)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
stopWalkingState3 = createState("stopWalkingState3", stopWalking)
stopWalkingState4 = createState("stopWalkingState4", stopWalking)
waitSittingState = createState("waitSittingState", lambda: None)
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState", lambda: resetSubFSM(goToBallFSM))
resetFindNaoState = createState("resetFindNaoState", lambda: resetSubFSM(findNaoFSM))
setBottomCamState = createState("setBottomCamState", lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState", lambda: setLED("eyes", 1.0, 0.0, 0.0)) # Red
setTopCamState = createState("setTopCamState", lambda: setCamera("top"))
# Import primitive robot behaviors
from api.pubapi import (
startWalking, turnHead, setCamera, kick,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (averageLook, lookAtBall, largestBall, positiveYaw,
negativeYaw, zeroYaw, switchCamera, entryTime, currentTime, cameraDelay,
closeToFeet, leftFoot, rightFoot, farNegativeYaw, farPositiveYaw, lookAtBall2,
seeGoal)
#create states
rotateLeftState = createState("rotateLeftState", lambda: setWalkVelocity(0,0, 0.15))
rotateRightState = createState("rotateRightState", lambda: setWalkVelocity(0,0, -0.15))
archLeftState = createState("archLeftState", lambda: setWalkVelocity(0.65, 0, 0.15))
archRightState = createState("archRightState", lambda: setWalkVelocity(0.65, 0, -0.15))
walkToBallState = createState("walkToBallState", lambda: setWalkVelocity(0.6, 0, 0))
watchBallState = createState("watchBallState", lambda wm: lookAtBall2(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
setBottomCamState = createState("setBottomCamState", lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState", lambda: setLED("eyes", 1,0,0))
kickRightState = createState("kickRightState", lambda: kick("right"))
kickLeftState = createState("kickLeftState", lambda: kick("left"))
# FSM for following the ball
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition, addStates,
setInitialState, readWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown)
# Import functions we've written
from functions import (waitForStand, waitForSit)
## CREATE STATES ##
sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
# Create states for talking
sayHelloState = createState("sayHelloState", lambda: say("Hello World"))
sayGoodbyeState = createState("sayGoodbyeState", lambda: say("Goodbye World!"))
# Create states for waiting for touch
waitSittingState = createState("waitSittingState", lambda: None)
waitStandingState = createState("waitStandingState", lambda: None)
# Create communcationsstates
# Add transitions according to the state diagram
def rotateTime(wm):
if currentTime(wm) - entryTime(wm) >= 5:
return True
else:
return False
def uTurnTime(wm):
if currentTime(wm) - entryTime(wm) >= 17:
return True
else:
return False
## CREATE STATES ##
sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
walkState = createState("walkState", startWalking)
stopWalkState = createState("stopWalkState", stopWalking)
stopWalk2State = createState("stopWalk2State", stopWalking)
rotateState = createState("rotateState", lambda: setWalkVelocity(0, 0, 0.5))
uTurnState = createState("uTurnState", lambda: setWalkVelocity(1, 0, 0.2))
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
# Create states for talking
sayLetsWalkState = createState("sayLetsWalkState", lambda: say("Hej Yousif!"))
sayRotateState = createState("sayRotateState", lambda: say("spinn!"))
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition,
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (detectTouch, seeGoal, seeGoalLeft, seeGoalRight,
seeGoalSingle)
# Create states
rotateLeftState = createState("rotateLeftState", lambda: setWalkVelocity(0, 0, 0.7))
rotateRightState = createState("rotateRightState", lambda: setWalkVelocity(0,0, -0.7))
lookUpState = createState("lookUpState", lambda wm: lookUp(wm))
lookDownState = createState("lookDownState", lambda: turnHead(0, 0))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopRotateState = createState("stopRotateState", stopWalking)
# Transitions for the findGoalFSM
addTransition(rotateLeftState, seeGoal, stopWalkingState)
addTransition(rotateLeftState, seeGoalLeft, rotateRightState)
addTransition(rotateLeftState, seeGoalSingle, stopRotateState)
addTransition(rotateRightState, seeGoal, stopWalkingState)
addTransition(rotateRightState, seeGoalRight, rotateLeftState)
addTransition(rotateRightState, seeGoalSingle, stopRotateState)
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition, addStates,
setInitialState, readWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, communicate)
# Import functions we've written
from functions import (detectTouch, touchDelay)
## CREATE STATES ##
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
# Create states for waiting for touch
waitSittingState4 = createState("waitSittingState3", lambda: None)
waitSittingState3 = createState("waitSittingState3", lambda: None)
waitSittingState2 = createState("waitSittingState2", lambda: None)
waitSittingState = createState("waitSittingState", lambda: None)
# Create communcationsstates
robot = "goliath"
sendStandStatus = createState("sendStandStatus",
lambda: communicate(robot, "Stand"))
from fsm.functions import (createState, createFSM, addTransition, addStates,
setInitialState, readWM, writeWM,
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, resetSubFSM, say, setLED,
setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (detectTouch, seeGoal, seeGoalLeft, seeGoalRight,
seeGoalSingle)
# Create states
rotateLeftState = createState("rotateLeftState",
lambda: setWalkVelocity(0, 0, 0.7))
rotateRightState = createState("rotateRightState",
lambda: setWalkVelocity(0, 0, -0.7))
lookUpState = createState("lookUpState", lambda wm: lookUp(wm))
lookDownState = createState("lookDownState", lambda: turnHead(0, 0))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopRotateState = createState("stopRotateState", stopWalking)
# Transitions for the findGoalFSM
addTransition(rotateLeftState, seeGoal, stopWalkingState)
addTransition(rotateLeftState, seeGoalLeft, rotateRightState)
addTransition(rotateLeftState, seeGoalSingle, stopRotateState)
addTransition(rotateRightState, seeGoal, stopWalkingState)
addTransition(rotateRightState, seeGoalRight, rotateLeftState)
# Import the FSM functions
from fsm.functions import (
createState, createFSM,
addTransition, addStates,
setInitialState, readWM)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown)
# Define the event function which detects touch
def detectTouch(wm):
return readWM(wm, "tactile", "middle")
## CREATE STATES ##
sitState = createState("sitState", sit)
standState = createState("standState", stand)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
# Create states for talking
sayHelloState = createState("sayHelloState", lambda: say("Hello World"))
sayGoodbyeState = createState("sayGoodbyeState", lambda: say("Goodbye World!"))
# Create states for waiting for touch
waitSittingState = createState("waitSittingState", lambda : None)
waitStandingState = createState("waitStandingState", lambda : None)
setInitialState, readWM, writeWM,
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, say, setLED, setWalkVelocity,
stopWalking)
# Import functions we've written
from functions import (seeBall, noSeeBall, shakeHeadTime, largestBall,
averageLook, lookAtBall, rotateTime, entryTime,
currentTime, cameraDelay, headTurning)
#Create States
shakeHeadState = createState("shakeHeadState", lambda wm: headTurning(wm))
shakeHeadState2 = createState("shakeHeadState2", lambda wm: headTurning(wm))
setTopCameraState = createState("setTopCameraState", lambda: setCamera("top"))
setBottomCameraState = createState("setBottomCameraState",
lambda: setCamera("bottom"))
setTopCameraState2 = createState("setTopCameraState2",
lambda: setCamera("top"))
lookAtBallState = createState("lookAtBallState", lambda wm: lookAtBall(wm))
rotateState = createState("rotateState", lambda: setWalkVelocity(0, 0, 0.5))
bottomLedState = createState("bottomLedState",
lambda: setLED("eyes", 1, 0, 0)) # Red
topLedState = createState("topLedState",
lambda: setLED("eyes", 0, 1, 0)) # Green
topLedState2 = createState("topLedState2",
lambda: setLED("eyes", 0, 1, 0)) # Green
stopWalkState = createState("stopWalkState", stopWalking)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking)
# Import FSM
from findGoalFSM import (findGoalFSM)
# Import functions we've written
from functions import (detectTouch, seeGoal)
# Create states
waitSittingState = createState("waitSittingState", lambda : None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
lookAtGoalState = createState("lookAtGoalState", stopWalking)
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, findGoalFSM)
addTransition(findGoalFSM, seeGoal, lookAtGoalState)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, resetSubFSM, say, setLED,
setWalkVelocity, stopWalking)
# Import FSM
from lookBallFSM import (lookBallFSM)
from kickBallFSM import (kickBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState2", stopWalking)
resetKickBallState = createState("resetKickBallState",
lambda: resetSubFSM(kickBallFSM))
resetLookBallState = createState("resetLookBallState",
lambda: resetSubFSM(lookBallFSM))
# The main FSM
# Transitions for the mainFSM
from fsm.functions import (createState, createFSM, addTransition, addStates,
setInitialState, readWM, writeWM,
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (startWalking, turnHead, setCamera, say, setLED,
setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (averageLook, lookAtBall, largestBall, positiveYaw,
negativeYaw, zeroYaw, switchCamera, entryTime,
currentTime, cameraDelay, closeToFeet)
#create states
rotateLeftState = createState("rotateLeftState",
lambda: setWalkVelocity(0, 0, 0.15))
rotateRightState = createState("rotateRightState",
lambda: setWalkVelocity(0, 0, -0.15))
walkToBallState = createState("walkToBallState",
lambda: setWalkVelocity(1, 0, 0))
watchBallState = createState("watchBallState", lambda wm: lookAtBall(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
setBottomCamState = createState("setBottomCamState",
lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState",
lambda: setLED("eyes", 1, 0, 0))
# FSM for following the ball
followBallFSM = createFSM("followBallFSM")
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition, addStates,
setInitialState, readWM, writeWM,
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (startWalking, turnHead, setCamera, kick, say, setLED,
setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (leftFoot, rightFoot)
#create states
kickRightState = createState("kickRightState", lambda: kick("right"))
kickLeftState = createState("kickLeftState", lambda: kick("left"))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
# FSM for kicking the ball
kickBallFSM = createFSM("kickBallFSM")
addStates(kickBallFSM, kickRightState, kickLeftState, stopWalkingState,
stopWalkingState2)
setInitialState(kickBallFSM, stopWalkingState)
# Transitions
addTransition(stopWalkingState, leftFoot, kickLeftState)
addTransition(stopWalkingState, rightFoot, kickRightState)
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, resetSubFSM, say, setLED,
setWalkVelocity, stopWalking)
# Import FSM
from findGoalFSM import (findGoalFSM)
# Import functions we've written
from functions import (detectTouch, seeGoal)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
lookAtGoalState = createState("lookAtGoalState", stopWalking)
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, findGoalFSM)
addTransition(findGoalFSM, seeGoal, lookAtGoalState)
createState, createFSM,
addTransition, addStates,
setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, hMShake, hMHang)
# Define the functions for world model
def detectTouch(wm):
return readWM(wm, "tactile", "middle")
# create states
waitSittingState = createState("waitSittingState", lambda : None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shakeHeadState = createState("shakeHeadState", hMShake)
shakeHead2State = createState("shakeHead2State", hMShake)
hangHeadState = createState("hangHeadState", hMHang)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
# Add transitions
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, shakeHeadState )
addTransition(shakeHeadState, lambda wm: True, hangHeadState )
addTransition(hangHeadState, lambda wm: True, shakeHead2State )
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, resetSubFSM, say, setLED,
setWalkVelocity, stopWalking, communicate)
# Import FSM
from lookBallFSM import (lookBallFSM)
from goToBallFSM import (goToBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall, closeToFeet, seeGoal,
oneKick, waitForSit, waitForStand, waitForKick,
waitForFindBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState", stopWalking)
resetLookBallState = createState("resetLookBallState",
lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState",
lambda: resetSubFSM(goToBallFSM))
# States for communication
robot = "david"
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (
startWalking, turnHead, setCamera,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (averageLook, lookAtBall, largestBall, positiveYaw,
negativeYaw, zeroYaw, switchCamera, entryTime, currentTime, cameraDelay,
closeToFeet)
#create states
rotateLeftState = createState("rotateLeftState", lambda : setWalkVelocity(0,0, 0.15))
rotateRightState = createState("rotateRightState", lambda : setWalkVelocity(0,0, -0.15))
walkToBallState = createState("walkToBallState", lambda : setWalkVelocity(1, 0, 0))
watchBallState = createState("watchBallState", lambda wm : lookAtBall(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
setBottomCamState = createState("setBottomCamState", lambda : setCamera("bottom"))
setBottomLedState = createState("setBottomLedState", lambda : setLED("eyes", 1,0,0))
# FSM for following the ball
followBallFSM = createFSM("followBallFSM")
addStates(followBallFSM, rotateLeftState, rotateRightState, walkToBallState,
watchBallState, stopWalkingState, stopWalkingState2, setBottomLedState,
setBottomCamState)
setInitialState, readWM, writeWM,
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, resetSubFSM, say, setLED,
setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (detectTouch, seeGoal, seeGoalLeft, seeGoalRight,
seeGoalSingle, lookForGoal, seeBall, oneStep, leftFoot,
rightFoot, betweenFeet)
# Create states
circleLeftState = createState("circleLeftState",
lambda: setWalkVelocity(0, 1, -0.45))
circleRightState = createState("circleRightState",
lambda: setWalkVelocity(0, 1, 0.45))
lookUpState = createState("lookUpState", lambda wm: lookUp(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopRotateState = createState("stopRotateState", stopWalking)
setTopCameraState = createState("setTopCameraState", lambda: setCamera("top"))
topLedState = createState("topLedState",
lambda: setLED("eyes", 0, 1, 0)) # Green
lookStraightState = createState("lookStraightState", lambda: turnHead(0, 0))
standState = createState("standState", stopWalking)
leftStepState = createState("leftStepState",
lambda: setWalkVelocity(0, 0.5, 0))
rightStepState = createState("rightStepState",
lambda: setWalkVelocity(0, -0.5, 0))
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, communicate, stopWalking,
resetSubFSM, setCamera, setLED, turnHead, setWalkVelocity)
# Import functions we've written
from functions import (closeToObstacle, closeToFeet, rotateTime, walkDelay,
obstacleToLeft, obstacleToRight, headDelay)
# Import FSM
# Currently none
# Create state
#resetLookBallState = createState("resetLookBallState", lambda : resetSubFSM(lookBallFSM))
setBottomCamState = createState("setBottomCamState", lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState", lambda: setLED("eyes", 1.0, 0.0, 0.0)) # Red
walkState = createState("walkState", lambda: setWalkVelocity(0.6, 0, 0))
rotateState = createState("rotateState", lambda: setWalkVelocity(0, 0, -0.4))
stopWalkState = createState("stopWalkState", stopWalking)
leftHeadState = createState("leftHeadState", lambda: turnHead(0.5, 0.2549))
rightHeadState = createState("rightHeadState", lambda: turnHead(-0.5, 0.2549))
lookDownState = createState("lookDownState", lambda: turnHead(0, 0.0549)) #0.1149 ok
lookDownState2 = createState("lookDownState2", lambda: turnHead(0, 0.0549))
lookDownMoreState = createState("lookDownMoreState", lambda: turnHead(0, 0.2549))
# Add transitions
addTransition(setBottomCamState, lambda wm: True, setBottomLedState)
addTransition(setBottomLedState, lambda wm: True, lookDownState2)
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition,
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (
startWalking, turnHead, setCamera, kick,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (leftFoot, rightFoot)
#create states
kickRightState = createState("kickRightState", lambda: kick("right"))
kickLeftState = createState("kickLeftState", lambda: kick("left"))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
# FSM for kicking the ball
kickBallFSM = createFSM("kickBallFSM")
addStates(kickBallFSM, kickRightState, kickLeftState, stopWalkingState, stopWalkingState2)
setInitialState(kickBallFSM, stopWalkingState)
# Transitions
addTransition(stopWalkingState, leftFoot, kickLeftState)
addTransition(stopWalkingState, rightFoot, kickRightState)
addStates, setInitialState, readWM, writeWM, setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown,
startWalking, turnHead, setCamera,
say, setLED, setWalkVelocity, stopWalking)
from followBallFSM import (followBallFSM, rotateLeftState,
rotateRightState, walkToBallState, watchBallState,
stopWalkingState, stopWalkingState2, followBallFSM)
def detectTouch(wm):
return readWM(wm, "tactile", "middle")
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
mainFSM = createFSM("mainFSM")
addStates(mainFSM, waitSittingState, sitState, restState, standState,
shutdownState, followBallFSM)
setInitialState(mainFSM, waitSittingState)
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, followBallFSM)
addTransition(followBallFSM, detectTouch, sitState)
startWalking, turnHead, setCamera, resetSubFSM,
say, setLED, setWalkVelocity, stopWalking)
# Import FSM
from lookBallFSM import (lookBallFSM)
from kickBallFSM import (kickBallFSM)
from goToBallFSM import (goToBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall, closeToFeet, seeGoal, oneKick,
waitForSit, waitForStand, waitForKick)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState2", stopWalking)
stopWalkState3 = createState("stopWalkState3", stopWalking)
stopWalkState4 = createState("stopWalkState4", stopWalking)
resetKickBallState = createState("resetKickBallState", lambda: resetSubFSM(kickBallFSM))
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState", lambda: resetSubFSM(goToBallFSM))
resetFindGoalState = createState("resetFindGoalState", lambda: resetSubFSM(findGoalFSM))
setBottomCameraState = createState("setBottomCameraState", lambda: setCamera("bottom"))
bottomLedState = createState("bottomLedState", lambda: setLED("eyes", 1, 0, 0)) # Red
def entryTime(wm):
return readWM(wm, "time", "entry")
def currentTime(wm):
return readWM(wm, "time", "current")
def time(wm):
if currentTime(wm) - entryTime(wm) >= 20:
return True
else:
return False
# create states
waitSittingState = createState("waitSittingState", lambda: None)
waitStandingState = createState("waitStandingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
hangHeadState = createState("hangHeadState", hMHang)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
sayBallState = createState("sayBallState", lambda: say("ball!"))
sayNoBallState = createState("sayNoBallState", lambda: say("no ball found!"))
lookAtBallState = createState("lookAtBallState", lambda wm: lookAtBall(wm))
# Add transitions
addTransition(waitSittingState, detectTouch, standState)
# Import the FSM functions
from fsm.functions import (createState, createFSM, addTransition, addStates,
setInitialState, readWM, writeWM,
setPrintTransition)
# Import primitive robot behaviors
from api.pubapi import (sit, stand, rest, say, shutdown, startWalking,
turnHead, setCamera, resetSubFSM, say, setLED,
setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (detectTouch)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
circleLeftState = createState("circleLeftState",
lambda: setWalkVelocity(0, 1, -0.45))
circleRightState = createState("circleRightState",
lambda: setWalkVelocity(0, 1, 0.45))
# The main FSM
# Transitions for the mainFSM
