def process_event(self, e):
if self.state == 1:
if e.name == "start":
self.state += 1
self.move.speed(-self.robot.pos_speed)
elif self.state == 2:
if e.name == "bump" and e.state == "close":
self.state += 1
self.create_timer(self.robot.pos_timer)
elif self.state == 3:
if e.name == "timer":
self.state += 0.5
self.move.stop(self)
elif self.state == 3.5:
if e.name == "move" and e.type == "done":
self.state += 0.5
self.can.send("asserv off")
self.odo.set(self, **{"y": 10000 - self.robot.dimensions["back"], "rot": 27000 + Robot.vrille() })
elif self.state == 4:
if e.name == "odo" and e.type == "done":
self.state += 1
self.can.send("asserv on")
self.move.forward(self, 1000)
elif self.state == 5:
if e.name == "move" and e.type == "done":
self.state += 1
self.move.rotate(self, 9000)
elif self.state == 6:
if e.name == "move" and e.type == "done":
self.state += 1
self.move.speed(-self.robot.pos_speed)
elif self.state == 7:
if e.name == "bump" and e.state == "close":
self.state += 0.5
self.create_timer(self.robot.pos_timer)
elif self.state == 7.5:
if e.name == "timer":
self.state += 0.5
self.move.stop(self)
elif self.state == 8:
if e.name == "move" and e.type == "done":
self.state += 1
self.can.send("asserv off")
self.odo.set(self, **{"x": self.robot.dimensions["back"] - 15000, "rot": Robot.vrille()})
elif self.state == 9:
if e.name == "odo" and e.type == "done":
self.state += 1
self.can.send("asserv on")
self.move.forward(self, 500)
elif self.state == 10:
if e.name == "move" and e.type == "done":
self.state = 0
self.logger.info("Gros en position !")
self.send_event(Event("positioning", "done"))
def process_event(self, event):
if self.state == 0:
if event.name == "start":
self.state += 1
self.move.forward(self, 5500) # on sort du depart
elif self.state == 1:
if event.name == "move" and event.type == "done":
self.state += 1
self.move.rotate(self, 27000, True) # on tourne vers les bouteilles
elif self.state == 2:
if event.name == "move" and event.type == "done":
self.state += 1
#self.move.forward(self, 4700) # on avance vers le totem
if Robot.side == 'violet':
self.move.reach_y(self, 3150) # NIM: c’était 2950 33/240
else:
self.move.reach_y(self, 2900) # NIM: c’était 2950
elif self.state == 3:
if event.name == "move" and event.type == "done":
self.state += 1
self.move.rotate(self, -Robot.vrille(), True) # on tourne vers le totem
elif self.state == 4:
if event.name == "move" and event.type == "done":
self.state += 1
self.can.send("ax 2 angle set 508")
self.missions["threshold"].activate(2, False)
if not self.odo.brd:
self.can.send("odo unmute")
self.move.speed(35)
elif self.state == 5:
if event.name == "odo" and event.type == "pos":
if event.pos.x > -1500:
self.state += 1
self.missions["threshold"].activate(2, True)
self.move.stop(self)
elif self.state == 6:
if event.name == "move" and event.type == "done":
self.state += 1
self.can.send("ax 2 angle set 0")
self.create_timer(200)
elif self.state == 7:
if event.name == "timer":
self.state += 1
self.missions["speedrotate"].start(0, 50)
elif self.state == 8:
if event.name == "odo" and event.type == "pos":
if event.rot > 17000 and event.rot < 32000:
self.state += 1
self.missions["speedrotate"].stop(self)
elif self.state == 9:
if event.name == "speedrotate" and event.type == "done":
if not self.odo.brd:
self.state += 1
self.can.send("odo mute")
self.logger.info("Bad orientation (%d), adjusting ..."
%self.odo.rot)
self.move.rotate(self, 20100, True)
elif self.state == 10:
if event.name == "move" and event.type == "done":
self.state += 1
self.move.reach_x(self, -12000)
elif self.state == 11:
if event.name == "move" and event.type == "done":
self.state += 0.5
self.can.send("ax 2 angle set 1023")
self.create_timer(2500)
elif self.state == 11.5:
if event.name == "timer":
self.state += 0.5
self.move.forward(self, -4000)
elif self.state == 12:
if event.name == "move" and event.type == "done":
self.state += 1
self.can.send("ax 2 angle set 0")
self.move.rotate(self, 27000, True)
elif self.state == 13:
if event.name == "move" and event.type == "done":
self.state = 13.05
self.move.reach_y(self, 8000)
elif self.state == 13.05:
if event.name == "move" and event.type == "done":
self.state = 13.1
self.move.speed(-15)
elif self.state == 13.1:
self.logger.info("event", event)
if event.name == "bump" and event.state == "close":
self.state += 0.1
self.create_timer(self.robot.pos_timer)
elif self.state == 13.2:
if event.name == "timer":
self.state += 0.1
self.move.stop(self)
elif self.state == 13.3:
if e.name == "move" and e.type == "done":
self.state = 0.1
self.can.send("asserv off")
self.odo.set(self, **{"y": 10000 - self.robot.dimensions["back"], "rot": 27000 + Robot.vrille()})
elif self.state == 13.4:
if e.name == "odo" and e.type == "done":
self.state = 14
self.can.send("asserv on")
self.move.forward(self, 1300)
elif self.state == 14:
if event.name == "move" and event.type == "done":
self.state += 1
self.move.rotate(self, 0, True)
elif self.state == 15:
if event.name == "move" and event.type == "done":
self.state += 0.5
self.move.reach_x(self, -13000)
elif self.state == 15.5:
if event.name == "move" and event.type == "done":
self.state += 0.5
self.move.speed(-15)
elif self.state == 16:
if event.name == "bump" and event.state == "close":
self.state += 1
self.create_timer(self.robot.pos_timer)
elif self.state == 17:
if event.name == "timer":
self.state += 1
self.move.stop(self)
elif self.state == 18:
if event.name == "move" and event.type == "done":
self.state += 1
self.can.send("asserv off")
self.odo.set(self, **{"x": self.robot.dimensions["back"] - 15000, "rot": Robot.vrille() })
elif self.state == 19:
if event.name == "odo" and event.type == "done":
self.can.send("asserv on")
self.send_event(Event("totem", "done"))
