def move_foot():
global move_flag, lastevent
if not (move_flag):
move_flag = True
naocmd.tir(motion, posture, 1)
print("tir")
time.sleep(0.5)
newKey, val = getMouv()
event = "Again" # define the default event
if newKey:
if val == t_avance:
move_flag = False
event = "Walk"
if val == t_pivot_l:
move_flag = False
event = "Turn on the Left"
if val == t_pivot_r:
move_flag = False
event = "Turn on the Right"
if val == t_wait:
move_flag = False
event = "Wait"
if val == t_r:
move_flag = False
event = "Right"
if val == t_l:
move_flag = False
event = "Left"
if naocmd.donnee_sonar(sonar, memory, motion, float(dist))[0]:
move_flag = False
event = "Obstacle"
lastevent = "Move foot"
return event # return event to be able to define the transition
def left():
global move_flag, lastevent
if not (move_flag):
move_flag = True
naocmd.tourner_a_gauche(motion, 1)
print "Tourne a gauche"
time.sleep(0.5)
newKey, val = getKey()
event = "Again" # define the default event
if newKey:
if val == t_avance:
move_flag = False
event = "Walk"
if val == t_pivot_r:
move_flag = False
event = "Turn on the Right"
if val == t_wait:
move_flag = False
event = "Wait"
if val == t_r:
move_flag = False
event = "Right"
if val == t_l:
move_flag = False
event = "Left"
if val == t_b:
move_flag = False
event = "Go back"
if naocmd.donnee_sonar(sonar, memory, motion, float(dist))[0]:
move_flag = False
event = "Obstacle"
lastevent = "Turn on the Left"
return event # return event to be able to define the transition
def evitement():
global move_flag
if not (move_flag):
move_flag = True
#Si cote gauche detecte en premier alors on tourne a droite
if naocmd.donnee_sonar(sonar, memory, motion,
float(dist))[1] < naocmd.donnee_sonar(
sonar, memory, motion, float(dist))[2]:
naocmd.tourner_a_droite(motion, 1)
else:
naocmd.tourner_a_gauche(motion, 1)
print "Detection Obstacle"
time.sleep(0.5)
if not (naocmd.donnee_sonar(sonar, memory, motion, 0.1 + float(dist))[0]):
print "Fin d'evitement"
move_flag = False
return lastevent
else:
return "Again"
def right():
global move_flag, lastevent
if not (move_flag):
move_flag = True
naocmd.tourner_a_droite(motion, 1)
print "Tourne a droite"
time.sleep(0.5)
newKey, val = getKey()
event = "Again" # define the default event
if newKey:
if val == "q":
move_flag = False
event = "Walk"
if val == "l":
move_flag = False
event = "Turn on the Left"
if val == "w":
move_flag = False
event = "Wait"
if naocmd.donnee_sonar(sonar, memory, motion, float(dist))[0]:
move_flag = False
event = "Obstacle"
lastevent = "Turn on the Right"
return event # return event to be able to define the transition
def avance():
global move_flag, lastevent
if not (move_flag):
move_flag = True
naocmd.tout_droit(motion, posture, 1, x, y)
print "Avance d'un pas"
time.sleep(0.5)
newKey, val = getMouv()
event = "Again" # define the default event
if newKey:
if val == t_pivot_l:
move_flag = False
event = "Turn on the Left"
if val == t_pivot_r:
move_flag = False
event = "Turn on the Right"
if val == t_wait:
move_flag = False
event = "Wait"
if val == t_r:
move_flag = False
event = "Right"
if val == t_l:
move_flag = False
event = "Left"
if val == t_b:
move_flag = False
event = "Go back"
if naocmd.donnee_sonar(sonar, memory, motion, float(dist))[0]:
move_flag = False
event = "Obstacle"
lastevent = "Walk"
return event # return event to be able to define the transition
