#behaviours = [teleop_keys_behaviour, escape_behaviour]
behaviours = [
cruise_behaviour, usonic_escape_behaviour, bump_escape_behaviour,
imu_escape_behaviour
]
arbitrator = Arbitrator(behaviours)
server = Server(host='192.168.1.101', port=65432)
server.start()
while True:
try:
sensor_readings = sensors.read_sensors()
server.update(sensor_readings)
for sensor_reading in sensor_readings:
print(sensor_reading.name + " " + str(sensor_reading.value))
command = arbitrator.arbitrate(sensor_readings)
# print(arbitrator.get_winning_behaviour().name)
base.do_motion_command(command)
time.sleep(0.1)
except KeyboardInterrupt:
# teleop_keys_behaviour.stop()
server.stop()
break
command = MotionCommand()
base.do_motion_command(command)
motor_controller = SmartCarMotorController()
front_left_ir_sensor = ProximitySensor(name='front_left_ir', pin=20)
front_right_ir_sensor = ProximitySensor(name='front_right_ir', pin=21)
front_ir_sensor = ProximitySensor(name='front_ir', pin=26)
sensors = [front_ir_sensor, front_left_ir_sensor, front_right_ir_sensor]
wheel_separation = 0.133
max_speed = 0.52
base = SmartCarRobotBase(wheel_separation, max_speed, motor_controller,
sensors)
cruise_behaviour = Cruise(0)
escape_behaviour = SmartCarEscape(1)
behaviours = [cruise_behaviour, escape_behaviour]
arbitrator = Arbitrator(behaviours)
while True:
sensors = base.read_sensors()
for sensor in sensors:
print(sensor.name + " " + str(sensor.value))
command = arbitrator.arbitrate(sensors)
print(arbitrator.get_winning_behaviour().name)
base.do_motion_command(command)
time.sleep(0.1)