def startup(self):
# add sensor objects
cam = Sensob(Camera())
ultrasonic = Sensob(Ultrasonic())
ir_sensor = Sensob(ReflectanceSensors())
self.add_sensob(cam)
self.add_sensob(ultrasonic)
self.add_sensob(ir_sensor)
# add behaviors
sb = StandardBehavior(self)
self.add_behavior(sb)
self.activate_behavior(sb)
cb = CameraBehavior(self)
self.add_behavior(cb)
self.activate_behavior(cb)
ub = UltraBehavior(self)
self.add_behavior(ub)
self.activate_behavior(ub)
ir = IRBehavior(self)
self.add_behavior(ir)
self.activate_behavior(ir)
button = ZumoButton()
button.wait_for_press()
self._running = True
while self._running:
self.run_one_timestep()
# wait
time.sleep(0.001)
def start():
bbcon = BBCON()
arb = Arbitrator(bbcon)
motor = Motors()
reflect_sens = ReflectanceSensors(False)
cam = Camera()
ir = IR()
ultra = Ultrasonic()
bbcon.add_motobs(motor)
bbcon.set_arb(arb)
bbcon.add_behaviour(AvoidObj(bbcon, ultra, ir))
bbcon.add_behaviour(Behaviour_line_follower(bbcon, reflect_sens))
bbcon.add_behaviour(fub(bb=bbcon))
#behaviour avoid blue, has to be added last, do not change this, will screw up bbcon code
bbcon.add_behaviour(Behaviour_avoid_blue(bb=bbcon, cam=cam, ultra=ultra))
bbcon.add_sensob(reflect_sens)
bbcon.add_sensob(ir)
bbcon.add_sensob(ultra)
#cam has to be added last, will screw up bbcon code if not
bbcon.add_sensob(cam)
butt = ZumoButton()
butt.wait_for_press()
print("Start zumo")
while True:
bbcon.run_one_timestep()
def main3():
button = ZumoButton()
distance_ob = Distanceob()
camera_ob = Cameraob()
ir_prox_ob = IRProximityob()
count = 0
bbcon = BBCON()
behavior_stop_red = StopRed(bbcon=bbcon, sensobs=[distance_ob, camera_ob])
behavior_follow_side = FollowSide(bbcon=bbcon, sensobs=[ir_prox_ob])
behavior_drive = DriveAround(bbcon=bbcon)
bbcon.add_behavior(behavior_stop_red)
bbcon.add_behavior(behavior_drive)
bbcon.add_behavior(behavior_follow_side)
bbcon.add_sensob(distance_ob)
bbcon.add_sensob(camera_ob)
bbcon.add_sensob(ir_prox_ob)
bbcon.activate_behavior(behavior_follow_side)
bbcon.activate_behavior(behavior_stop_red)
bbcon.activate_behavior(behavior_drive)
button.wait_for_press()
while count < 100:
bbcon.run_one_timestep()
count += 1
def runOneTimestep(self):
print("Starts")
button = ZumoButton()
button.wait_for_press()
self.addSenob()
self.addBehavior()
pictureTime = 0
while True:
#print("Runns itteration")
#Reads from active sensors
activeSensors = []
#Adds imageBehaviour
if pictureTime > 3:
self.active_behaviors.append(self.behaviors[3])
for behavior in self.active_behaviors:
sensorList = behavior.getSensobs()
for sensor in sensorList:
if not activeSensors.__contains__(sensor):
activeSensors.append(sensor)
#print("Adds to active sensors")
for sensor in activeSensors:
#print("Adds sensor")
if (sensor != None):
sensor.update()
#print("Update all behaviors")
#Update all behaviors
for behavior in self.active_behaviors:
behavior.updateRecomendation()
#print("About to chose action")
#Requesting the motor recomendation and halt request flag
behavior, requestFlag = self.abitrator.choose_action()
#print("Action:", behavior.getMovement())
if requestFlag:
break
#Update the motobs so that the motors are activated/deactivated
self.motobs.recomend(behavior.getMovement())
#print("Recomended movement")
self.motobs.update()
#print("Uppdated motors")
if self.active_behaviors.__contains__(self.behaviors[3]):
self.active_behaviors.remove(self.behaviors[3])
pictureTime = 0
#Wait. Defines how long the code should wait
sleep(0.05)
pictureTime = pictureTime + 1
#Resets sensors
for sensor in activeSensors:
if sensor != None:
sensor.reset()
def main():
zumo_button = ZumoButton() # Sets up pins and Zumobutton
zumo_button.wait_for_press()
bbcon1 = BBCON() # Create BBCON
#Motors
motor1 = Motors() # Create a Motor
motob1 = Motob(motor1) # Create a motob
bbcon1.motobs = [motob1] # Give Motor to BBCON
# Collision avoidance
ultra_sensor = ObstacleDetectionSensob() # Create obstacle sensob
avoid_object = AvoidObstacleBehavior(bbcon1, 1.5) # Create obstacle Behavior
ultra_sensor.add_behavior(avoid_object) # Give sensob the behavior
bbcon1.add_behavior(avoid_object) # Give BBCON the behavior
bbcon1.add_sensob(ultra_sensor) # Give BBCON the sensor
# Line follow
line_sensor = IRSensob() # Create IR sensob
line_follow = FollowLineBehavior(bbcon1, 0.5) # Create linefollow behavior
line_follow.add_sensob(line_sensor) # Give linefollow sin sensob
bbcon1.add_behavior(line_follow) # Give BBCON the linefollow
bbcon1.add_sensob(line_sensor) # Give BBCON the IR sensob
# Add setup for camera, and add it to BBCON when we want to test everything together
camera_sensor = FindRedSensob() # Create obstacle sensob
find_and_follow_behavior = FindAndFollowRedBallBehavior(bbcon1, 1) # Create obstacle Behavior
camera_sensor.add_behavior(find_and_follow_behavior) # Give sensob the behavior
bbcon1.add_behavior(find_and_follow_behavior) # Give BBCON the behavior
bbcon1.add_sensob(camera_sensor)
motor1.stop() # Stop all motors
print("\nAll creation is done, entering main loop\n")
q = input("Press 'q' to quit: ")
while q is not 'q':
#Runs 100 timesteps. Stops if q is pressed.
for i in range(0, 100):
print("\nIteration " + str(i))
if bbcon1.run_one_timestep():
motor1.stop()
exit()
motor1.stop()
q = input("Press 'q' to quit: ")
def main():
button = ZumoButton()
ir_prox_ob = IRProximityob()
count = 0
bbcon = BBCON()
behavior_follow_side = FollowSide(bbcon=bbcon, sensobs=[ir_prox_ob])
behavior_drive = DriveAround(bbcon=bbcon)
bbcon.add_behavior(behavior_follow_side)
bbcon.add_behavior(behavior_drive)
bbcon.add_sensob(ir_prox_ob)
bbcon.activate_behavior(behavior_follow_side)
bbcon.activate_behavior(behavior_drive)
button.wait_for_press()
while count < 100:
bbcon.run_one_timestep()
count += 1
def main():
bbcon1 = BBCON() # Create BBCON
# Motors
motor1 = Motors() # Create a Motor
motob1 = Motob(motor1) # Create a motob
bbcon1.motobs = [motob1] # Give Motor to BBCON
zumo_button = ZumoButton() # Sets up pins and Zumobutton
# Add setup for camera, and add it to BBCON when we want to test everything together
camera_sensor = FindRedSensob() # Create obstacle sensob
find_and_follow_behavior = FindAndFollowRedBallBehavior(
bbcon1, 3) # Create obstacle Behavior
camera_sensor.add_behavior(
find_and_follow_behavior) # Give sensob the behavior
bbcon1.add_behavior(find_and_follow_behavior) # Give BBCON the behavior
bbcon1.add_sensob(camera_sensor)
motor1.stop() # Stop all motors
print("\nAll creation is done, entering main loop\n")
q = ""
while q is not 'q':
zumo_button.wait_for_press()
for i in range(0, 10):
print("Iteration " + str(i))
if bbcon1.run_one_timestep():
motor1.stop()
exit()
motor1.stop()
q = input("Press 'q' to quit: ")
exit()
# Tuple of a behavior's motor recommendations and a halt_flag (boolean)
# We will update all motobs which will then update the settings
# for all motors.
def update_all_motobs(self, tuple):
print(tuple)
for i in range(len(self.motob)):
# Motob can also check the halt_flag
self.motob[i].update(tuple)
if __name__ == '__main__':
bbcon = Bbcontroller()
arbitrator = Arbitrator(bbcon)
zumo = ZumoButton()
zumo.wait_for_press()
r = ReflectanceSensors()
u = Ultrasonic()
c = Camera()
sensobs = [r, u, c]
bbcon.arbitrator = arbitrator
fl = FollowLine(bbcon, sensobs)
ac = AvoidCollisions(bbcon, sensobs)
sp = SnapPhoto(sensobs)
ro = Rotate(sensobs)
st = Stop(bbcon, sensobs)
dc = DoCircles(sensobs)
butt = ButtonFeeler()
peep = Peeper()
sensobs = {
"fallingout": fall,
"duckfinder": duck,
"buttonfeeler": butt,
"peeper": peep
}
print("Sensobs made")
for sensob in sensobs:
BBCON.add_sensob(sensob, sensobs[sensob])
print("Sensobs added")
stop = Stop(BBCON, 1.0)
fall = DontFall(BBCON, 1.0)
violate = ViolateDuck(BBCON, 0.8)
find = FindDuck(BBCON, 0.8)
# wander = Wander(BBCON, 0.1)
behaviors = [stop, fall, violate, find]
for behavior in behaviors:
BBCON.add_behavior(behavior)
print("Added behaviors to BBCON")
BBCON.active_behaviors = BBCON.behaviors
lil_pump = Motob()
lil_pump.motors.stop()
BBCON.add_motob(lil_pump)
print("Duck hater initialized")
button.wait_for_press()
time.sleep(1)
while not BBCON.halt:
BBCON.run_one_timestep()
