def bump_beh(tv):
# act on the information from the message. Note that this might be
# information stored from the last message we received, because message
# information remains active for a while
global bump_time
global bump_state
bump_bits = rone.bump_sensors_get_value()
# check bump sensors
if bump_left_get_value(bump_bits):
bump_state = BUMP_STATE_TURN_RIGHT
bump_time = sys.time() + BUMP_TIME_SIDE
elif bump_right_get_value(bump_bits):
bump_state = BUMP_STATE_TURN_LEFT
bump_time = sys.time() + BUMP_TIME_SIDE
elif bump_front_get_value(bump_bits):
bump_state = BUMP_STATE_ROTATE
bump_time = sys.time() + BUMP_TIME_ROTATE
if sys.time() > bump_time:
bump_state = BUMP_STATE_IDLE
# control the robot
beh_out = BEH_INACTIVE
if bump_state == BUMP_STATE_TURN_RIGHT:
beh_out = (0, -tv * TVRV_RATIO, True)
elif bump_state == BUMP_STATE_TURN_LEFT:
beh_out = (0, tv * TVRV_RATIO, True)
elif bump_state == BUMP_STATE_ROTATE:
beh_out = (0, tv * TVRV_RATIO, True)
return beh_out
def bump_beh(tv):
# act on the information from the message. Note that this might be
# information stored from the last message we received, because message
# information remains active for a while
global bump_time
global bump_state
bump_bits = rone.bump_sensors_get_value()
# check bump sensors
if bump_left_get_value(bump_bits):
bump_state = BUMP_STATE_TURN_RIGHT
bump_time = sys.time() + BUMP_TIME_SIDE
elif bump_right_get_value(bump_bits):
bump_state = BUMP_STATE_TURN_LEFT
bump_time = sys.time() + BUMP_TIME_SIDE
elif bump_front_get_value(bump_bits):
bump_state = BUMP_STATE_ROTATE
bump_time = sys.time() + BUMP_TIME_ROTATE
if sys.time() > bump_time:
bump_state = BUMP_STATE_IDLE
# control the robot
beh_out = BEH_INACTIVE
if bump_state == BUMP_STATE_TURN_RIGHT:
beh_out = (0, -tv * TVRV_RATIO, True)
elif bump_state == BUMP_STATE_TURN_LEFT:
beh_out = (0, tv * TVRV_RATIO, True)
elif bump_state == BUMP_STATE_ROTATE:
beh_out = (0, tv * TVRV_RATIO, True)
return beh_out
def bump_angle_get():
bumps_raw = rone.bump_sensors_get_value()
if bumps_raw == 0x00:
return None
else:
sum_x = 0
sum_y = 0
for i in range(8):
pressed = ((bumps_raw >> i) & 0x01) > 0
if pressed:
sum_y+= math.sin(SENSOR_ANGLES[i])
sum_x+= math.cos(SENSOR_ANGLES[i])
bump_angle = math2.normalize_angle(math.atan2(sum_y, sum_x))
return bump_angle
def bump_angle_get():
bumps_raw = rone.bump_sensors_get_value()
if bumps_raw == 0x00:
return None
else:
sum_x = 0
sum_y = 0
for i in range(8):
pressed = ((bumps_raw >> i) & 0x01) > 0
if pressed:
sum_y += math.sin(SENSOR_ANGLES[i])
sum_x += math.cos(SENSOR_ANGLES[i])
bump_angle = math2.normalize_angle(math.atan2(sum_y, sum_x))
return bump_angle
def bump():
bump_bits = rone.bump_sensors_get_value()
return bump_bits != 0x00
def bump_front():
# Returns true if any of the front 6 out of 8 sensors are triggered
bump_bits = rone.bump_sensors_get_value()
return (bump_bits & 231) > 0
def bump():
bump_bits = rone.bump_sensors_get_value()
return bump_bits != 0x00
def bump_front():
# Returns true if any of the front 6 out of 8 sensors are triggered
bump_bits = rone.bump_sensors_get_value()
return (bump_bits & 231) > 0