def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441, 434), (22, 420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10)
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(1, 1, 0.5)
sim.addLight(2, 2, 0.5)
sim.addLight(3, 3, 0.5)
sim.addLight(4, 4, 0.5)
sim.addLight(5, 5, 0.5)
sim.addLight(6, 6, 0.5)
sim.addLight(7, 7, 0.5)
sim.addLight(8, 8, 0.5)
sim.addLight(9, 9, 0.5)
sim.addLight(10, 10, 0.5)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(
60002,
TkPioneer("redRobot", 5, 7, -0.86,
((.225, .225, -.225, -.225), (.175, -.175, -.175, .175)),
"red"))
sim.addRobot(
60003,
TkPioneer("blueRobot", 6, 7, -0.86,
((.225, .225, -.225, -.225), (.175, -.175, -.175, .175)),
"blue"))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontSonars())
return sim
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441,434), (22,420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10, "green")
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(5, 5, 0.3)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(60000, TkPioneer("redRobot",
5, 1, 0,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"red"))
sim.addRobot(60001, TkPioneer("blueRobot",
5, 9, pi,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"blue"))
sim.addBox(4.8, 0.2, 5.2, 0.6, "black")
sim.addBox(4.8, 9.4, 5.2, 9.8, "white")
# add some sensors:
sim.robots[0].addDevice(PioneerFrontLightSensors())
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[1].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontSonars())
return sim
def INIT():
# (width, height), (offset x, offset y), scale
sim = LineSimulation((450,675), (20,650), 32,
background="line-images/lineBackground-1.png")
# background="line-images/lineBackground-2.png")
# an example of an obstacle on the line
# x1, y1, x2, y2
sim.addBox(5, 12, 6, 11)
sim.addRobot(60000,
# name, x, y, th, boundingBox
TkPioneer("RedErratic",
# position for lineBackground-1
1, 18.9, 4.0,
# position for lineBackground-2
# 8.5, 2.35, 1.57,
((.185, .185, -.185, -.185),
(.2, -.2, -.2, .2))))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontSonars())
# to create a trail
# sim.robots[0].display["trail"] = 1
return sim
def INIT():
sim = TkSimulator((441,434), (22,420), 40.357554)
sim.addBox(0, 0, 10, 10)
sim.addLight(5, 6, 1)
sim.addRobot(60000, TkPioneer("RedPioneer",
5, 2, -0.86,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175))))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[0].addDevice(PioneerFrontLightSensors())
return sim
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441, 434), (22, 420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10)
sim.addBox(3, 4, 7, 4.5)
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(5, 6, 1)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(
60000,
TkPioneer("RedPioneer", 3, 3, -0.86,
((.225, .225, -.225, -.225), (.175, -.175, -.175, .175))))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[0].addDevice(PioneerFrontLightSensors())
return sim