예제 #1
0
 def setup(self):
     # create the Local Perceptiual Space window
     units = self.robot.range.units
     self.robot.range.units = 'MM'
     sizeMM = self.robot.range.getMaxvalue() * 3 + \
              self.robot.radius
     self.robot.range.units = units
     self.lps = LPS(20, 20, widthMM=sizeMM, heightMM=sizeMM)
     self.gps = GPS(400, 300, widthMM=sizeMM * 5, heightMM=sizeMM * 5)
     self.stick = Joystick()
예제 #2
0
class Map(Brain):
   def setup(self):
      # We want our map to measure in MM, so we first store our current unit of measure
      units = self.robot.range.units
      # We then reset our measurements to MMs
      self.robot.range.units = 'MM'
      # Calculate the maximum range of our sensors
      rangeMaxMM = self.robot.range.getMaxvalue()
      sizeMM = rangeMaxMM * 3 + (self.robot.radius / 1000.0) # in MMs
      # Reset our unit of measure
      self.robot.range.units = units
      # Now, we create our Local Perceptual Space window - this will hold our local map
      # Map will be 20px by 20px and will represent a height and width of sizeMM (total sensor range)
      self.lps = LPS( 40, 40,
                      widthMM = sizeMM,
                      heightMM = sizeMM)
      # Then create our Global Perceptual Space window - this will hold our global map
      # This map will be 500px by 500px and will represent an area N times the size of our maximum range
      self.gps = GPS( cols=300, rows=300,
                      heightMM = sizeMM * 5, widthMM = sizeMM * 5)
      self.joystick = Joystick(share.gui)
      self.need_redraw = False
      self.lock = thread.allocate_lock()
      
   def step(self):
      if not self.lock.acquire(False):
         return
      #print "Stepping...",
      # First we clear out all our old LPS data
      self.lps.reset()
      # Next we update our LPS with current 'range' sensor readings
      self.lps.sensorHits(self.robot, 'range')
      # Now redraw our LPS window - the LPS redraw can be improve performance
      
      # Then update our GPS with the new information in the LPS
      self.gps.updateFromLPS(self.lps, self.robot)
      # Finally, we redraw the GPS window
      
      self.need_redraw = True
      self.move(self.joystick.translate, self.joystick.rotate)
      self.lock.release()
      #print "done stepping!"
      
   def redraw(self):
      if (not self.lock.acquire(False)):
         return
      #print "Redrawing...",
      if self.need_redraw:
         self.lps.redraw(drawLabels=False)
         self.gps.update()
         self.gps.redraw()
         self.need_redraw = False
      self.lock.release()
      #print "done redrawing!"
       
   def destroy(self):
      # Make sure we close down cleanly
      self.lps.destroy()
      self.gps.destroy()
      self.joystick.destroy()
예제 #3
0
class SimpleBrain(Brain):
    def setup(self):
        # create the Local Perceptiual Space window
        units = self.robot.range.units
        self.robot.range.units = 'MM'
        sizeMM = self.robot.range.getMaxvalue() * 3 + \
                 self.robot.radius
        self.robot.range.units = units
        self.lps = LPS(20, 20, widthMM=sizeMM, heightMM=sizeMM)
        self.gps = GPS(400, 300, widthMM=sizeMM * 5, heightMM=sizeMM * 5)
        self.stick = Joystick()

    def destroy(self):
        self.lps.destroy()
        self.gps.destroy()
        self.stick.destroy()

    def step(self):
        robot = self.robot
        self.lps.reset()  # reset counts
        self.lps.sensorHits(robot, 'range')
        self.lps.redraw()
        self.gps.updateFromLPS(self.lps, robot)
        self.gps.redraw()
        self.robot.move(self.stick.translate, self.stick.rotate)
예제 #4
0
class Map(Brain):
    def setup(self):
        # We want our map to measure in MM, so we first store our current unit of measure
        units = self.robot.range.units
        # We then reset our measurements to MMs
        self.robot.range.units = "MM"
        # Calculate the maximum range of our sensors
        rangeMaxMM = self.robot.range.getMaxvalue()
        sizeMM = rangeMaxMM * 3 + (self.robot.radius / 1000.0)  # in MMs
        # Reset our unit of measure
        self.robot.range.units = units
        # Now, we create our Local Perceptual Space window - this will hold our local map
        # Map will be 20px by 20px and will represent a height and width of sizeMM (total sensor range)
        self.lps = LPS(40, 40, widthMM=sizeMM, heightMM=sizeMM)
        # Then create our Global Perceptual Space window - this will hold our global map
        # This map will be 500px by 500px and will represent an area N times the size of our maximum range
        self.gps = GPS(cols=300, rows=300, heightMM=sizeMM * 5, widthMM=sizeMM * 5)
        self.joystick = Joystick(share.gui)
        self.need_redraw = False
        self.lock = thread.allocate_lock()

    def step(self):
        if not self.lock.acquire(False):
            return
        # print "Stepping...",
        # First we clear out all our old LPS data
        self.lps.reset()
        # Next we update our LPS with current 'range' sensor readings
        self.lps.sensorHits(self.robot, "range")
        # Now redraw our LPS window - the LPS redraw can be improve performance

        # Then update our GPS with the new information in the LPS
        self.gps.updateFromLPS(self.lps, self.robot)
        # Finally, we redraw the GPS window

        self.need_redraw = True
        self.move(self.joystick.translate, self.joystick.rotate)
        self.lock.release()
        # print "done stepping!"

    def redraw(self):
        if not self.lock.acquire(False):
            return
        # print "Redrawing...",
        if self.need_redraw:
            self.lps.redraw(drawLabels=False)
            self.gps.update()
            self.gps.redraw()
            self.need_redraw = False
        self.lock.release()
        # print "done redrawing!"

    def destroy(self):
        # Make sure we close down cleanly
        self.lps.destroy()
        self.gps.destroy()
        self.joystick.destroy()
예제 #5
0
 def setup(self):
     # create the Local Perceptiual Space window
     units = self.robot.range.units
     self.robot.range.units = "MM"
     sizeMM = self.robot.range.getMaxvalue() * 3 + self.robot.radius
     self.robot.range.units = units
     self.lps = LPS(20, 20, widthMM=sizeMM, heightMM=sizeMM)
     self.gps = GPS(400, 300, widthMM=sizeMM * 5, heightMM=sizeMM * 5)
     self.stick = Joystick()
예제 #6
0
 def setup(self):
    # We want our map to measure in MM, so we first store our current unit of measure
    units = self.robot.range.units
    # We then reset our measurements to MMs
    self.robot.range.units = 'MM'
    # Calculate the maximum range of our sensors
    rangeMaxMM = self.robot.range.getMaxvalue()
    sizeMM = rangeMaxMM * 3 + (self.robot.radius / 1000.0) # in MMs
    # Reset our unit of measure
    self.robot.range.units = units
    # Now, we create our Local Perceptual Space window - this will hold our local map
    # Map will be 20px by 20px and will represent a height and width of sizeMM (total sensor range)
    self.lps = LPS( 40, 40,
                    widthMM = sizeMM,
                    heightMM = sizeMM)
    # Then create our Global Perceptual Space window - this will hold our global map
    # This map will be 500px by 500px and will represent an area N times the size of our maximum range
    self.gps = GPS( cols=300, rows=300,
                    heightMM = sizeMM * 5, widthMM = sizeMM * 5)
    self.joystick = Joystick(share.gui)
    self.need_redraw = False
    self.lock = thread.allocate_lock()
예제 #7
0
 def setup(self):
     # We want our map to measure in MM, so we first store our current unit of measure
     units = self.robot.range.units
     # We then reset our measurements to MMs
     self.robot.range.units = "MM"
     # Calculate the maximum range of our sensors
     rangeMaxMM = self.robot.range.getMaxvalue()
     sizeMM = rangeMaxMM * 3 + (self.robot.radius / 1000.0)  # in MMs
     # Reset our unit of measure
     self.robot.range.units = units
     # Now, we create our Local Perceptual Space window - this will hold our local map
     # Map will be 20px by 20px and will represent a height and width of sizeMM (total sensor range)
     self.lps = LPS(40, 40, widthMM=sizeMM, heightMM=sizeMM)
     # Then create our Global Perceptual Space window - this will hold our global map
     # This map will be 500px by 500px and will represent an area N times the size of our maximum range
     self.gps = GPS(cols=300, rows=300, heightMM=sizeMM * 5, widthMM=sizeMM * 5)
     self.joystick = Joystick(share.gui)
     self.need_redraw = False
     self.lock = thread.allocate_lock()
예제 #8
0
class SimpleBrain(Brain):
    def setup(self):
        # create the Local Perceptiual Space window
        units = self.robot.range.units
        self.robot.range.units = "MM"
        sizeMM = self.robot.range.getMaxvalue() * 3 + self.robot.radius
        self.robot.range.units = units
        self.lps = LPS(20, 20, widthMM=sizeMM, heightMM=sizeMM)
        self.gps = GPS(400, 300, widthMM=sizeMM * 5, heightMM=sizeMM * 5)
        self.stick = Joystick()

    def destroy(self):
        self.lps.destroy()
        self.gps.destroy()
        self.stick.destroy()

    def step(self):
        robot = self.robot
        self.lps.reset()  # reset counts
        self.lps.sensorHits(robot, "range")
        self.lps.redraw()
        self.gps.updateFromLPS(self.lps, robot)
        self.gps.redraw()
        self.robot.move(self.stick.translate, self.stick.rotate)