def __init__(self, display, x1, y1, x2, y2):
BaseObj.__init__(self, BaseObj.WALL)
zoom = display.zoom
self.x1 = x1
self.y1 = y1
self.x2 = x2
self.y2 = y2
#fudge factor - to avoid rounding errors resulting in values
#where a valid intersection is ignored because it's not "in"
#the object.
self.fudge = 0.000001
self.vis = WallVis(display, x1, y1, x2, y2)
if x1 < x2:
self.minx = x1
self.maxx = x2
else:
self.minx = x2
self.maxx = x1
if y1 < y2:
self.miny = y1
self.maxy = y2
else:
self.miny = y2
self.maxy = y1
self.draw()
def __init__(self, display, x1, y1, x2, y2):
BaseObj.__init__(self, BaseObj.WALL)
zoom = display.zoom
self.x1 = x1
self.y1 = y1
self.x2 = x2
self.y2 = y2
#fudge factor - to avoid rounding errors resulting in values
#where a valid intersection is ignored because it's not "in"
#the object.
self.fudge = 0.000001
self.vis = WallVis(display, x1, y1, x2, y2)
if x1 < x2:
self.minx = x1
self.maxx = x2
else:
self.minx = x2
self.maxx = x1
if y1 < y2:
self.miny = y1
self.maxy = y2
else:
self.miny = y2
self.maxy = y1
self.draw()
def __init__(self, display, x, y, r):
BaseObj.__init__(self, BaseObj.CONE)
zoom = display.zoom
self.x = x
self.y = y
self.r = r
self.vis = ConeVis(display, x, y, r)
self.minx = x - r
self.maxx = x + r
self.miny = y - r
self.maxy = y + r
self.draw()
def __init__(self, display, x, y, r):
BaseObj.__init__(self, BaseObj.CONE)
zoom = display.zoom
self.x = x
self.y = y
self.r = r
self.vis = ConeVis(display, x, y, r)
self.minx = x - r
self.maxx = x + r
self.miny = y - r
self.maxy = y + r
self.draw()
def __init__(self, display, size, scale, time):
BaseObj.__init__(self, BaseObj.ROBOT)
self.rand = Random()
self.tick = 0
self.ir_angle = [0,0] #angle is in radians
self.target_ir_angle = [0,0] #angle is in radians
self.target_speed = [0,0]
self.wheel_speed = [0,0]
self.wheel_accel = [10,10]
self.encoder = [0.0,0.0]
self.prev_time = 0
self.x = 0
self.y = 0
self.size = size
#dist between wheel centres is 23.5cm, robot is 26cm wide
self.wheelbase = 22.5*self.size/26.0
self.scale = scale
self.noise_model = NO_NOISE
self.max_ir_range = [0 , 0]
self.max_ir_range[FRONT] = 100/26 * size
self.max_ir_range[SIDE] = 40/26 * size
self.max_us_range = 3 * size
self.ir_dist = [self.max_ir_range[FRONT], self.max_ir_range[FRONT],
self.max_ir_range[SIDE], self.max_ir_range[SIDE]]
self.ir_sample_time = time
self.ir_scan_speed = 20 * 3.14/180 #20 degrees per update
self.us_dist = self.max_us_range
self.last_ir_front_reading = 0
self.last_ir_side_reading = 0
self.last_us_reading = 0
self.always_show_front_ir = False
self.always_show_side_ir = False
self.always_show_us = False
self.async_enabled = False
self.async_update_interval = 100
self.async_last_update = 0
self.async_us = False
self.async_iflr = False
self.async_islr = False
self.async_melr = False
self.angle = 0 #angle is in radians
self.bump = [False,False]
self.bump_got = [False,False]
self.latch_bump = False
self.line_y = -0.4 * size
self.line_spacing = 0.05 * size
self.line_readings = [127,127,127]
self.last_line_reading = 0
self.vis = RobotVis(display, 100, 100, 30, self.size,
self.max_ir_range[FRONT], self.max_ir_range[SIDE])
self.reset_origin()
def __init__(self, display, x, y, r, num):
BaseObj.__init__(self, BaseObj.TARGET)
zoom = display.zoom
self.x = x
self.y = y
self.r = r
self.num = num
self.vis = TargetVis(display, x, y, r, num)
self.minx = x - r
self.maxx = x + r
self.miny = y - r
self.maxy = y + r
self.draw()
def __init__(self, display, x1, y1, x2, y2, x3, y3, x4, y4, drag1, drag2):
BaseObj.__init__(self, BaseObj.CARPET)
zoom = display.zoom
self.coords = [x1,y1, x2, y2, x3, y3, x4, y4]
self.drag1 = drag1
self.drag2 = drag2
self.vis = CarpetVis(display, self.coords)
#compute bounding box
self.minx = min(x1,x2,x3,x4)
self.maxx = max(x1,x2,x3,x4)
self.miny = min(y1,y2,y3,y4)
self.maxy = max(y1,y2,y3,y4)
self.draw()
def __init__(self, display, x1, y1, x2, y2, x3, y3, x4, y4, drag1, drag2):
BaseObj.__init__(self, BaseObj.CARPET)
zoom = display.zoom
self.coords = [x1, y1, x2, y2, x3, y3, x4, y4]
self.drag1 = drag1
self.drag2 = drag2
self.vis = CarpetVis(display, self.coords)
#compute bounding box
self.minx = min(x1, x2, x3, x4)
self.maxx = max(x1, x2, x3, x4)
self.miny = min(y1, y2, y3, y4)
self.maxy = max(y1, y2, y3, y4)
self.draw()
def __init__(self, display, x1, y1, x2, y2):
BaseObj.__init__(self, BaseObj.LINE)
zoom = display.zoom
# we extend the line a few pixels beyond the end position so
# we don't end up with gaps between consecutive lines
extension = 3
self.x1 = x1
self.y1 = y1
self.x2 = x2
self.y2 = y2
if x1 == x2:
if y2 > y1:
self.y2 = y2 + extension
self.y1 = y1 - extension
else:
self.y2 = y2 - extension
self.y1 = y1 + extension
else:
angle = atan2((y2 - y2), (x2 - x1))
self.y2 = y2 + (extension * sin(angle))
self.x2 = x2 + (extension * cos(angle))
self.y1 = y1 - (extension * sin(angle))
self.x1 = x1 - (extension * cos(angle))
self.vis = LineVis(display, x1, y1, x2, y2)
if x1 < x2:
self.minx = self.x1
self.maxx = self.x2
else:
self.minx = self.x2
self.maxx = self.x1
if y1 < y2:
self.miny = self.y1
self.maxy = self.y2
else:
self.miny = self.y2
self.maxy = self.y1
self.draw()
def __init__(self, display, x1, y1, x2, y2):
BaseObj.__init__(self, BaseObj.LINE)
zoom = display.zoom
# we extend the line a few pixels beyond the end position so
# we don't end up with gaps between consecutive lines
extension = 3
self.x1 = x1
self.y1 = y1
self.x2 = x2
self.y2 = y2
if x1 == x2:
if y2 > y1:
self.y2 = y2 + extension
self.y1 = y1 - extension
else:
self.y2 = y2 - extension
self.y1 = y1 + extension
else:
angle = atan2((y2 - y2), (x2 - x1))
self.y2 = y2 + (extension * sin(angle))
self.x2 = x2 + (extension * cos(angle))
self.y1 = y1 - (extension * sin(angle))
self.x1 = x1 - (extension * cos(angle))
self.vis = LineVis(display, x1, y1, x2, y2)
if x1 < x2:
self.minx = self.x1
self.maxx = self.x2
else:
self.minx = self.x2
self.maxx = self.x1
if y1 < y2:
self.miny = self.y1
self.maxy = self.y2
else:
self.miny = self.y2
self.maxy = self.y1
self.draw()
