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 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()
