def getpercepts(self, beliefbase):
dist = pi2go.getDistance()
beliefbase['distance'] = dist
irR = pi2go.irRight()
beliefbase['obstacle_right'] = irR
irL = pi2go.irLeft()
beliefbase['obstacle_left'] = irL
irC = pi2go.irCentre()
beliefbase['obstacle_centre'] = irC
irLL = pi2go.irLeftLine()
beliefbase['line_left'] = irLL
irRL = pi2go.irRightLine()
beliefbase['line_right'] = irRL
switch = pi2go.getSwitch()
beliefbase['switch_pressed']= switch
lightFL = pi2go.getLightFL()
beliefbase['lightFL'] = lightFL
lightFR = pi2go.getLightFR()
beliefbase['lightFR'] = lightFR
lightBL = pi2go.getLightBL()
beliefbase['lightBL'] = lightBL
lightBR = pi2go.getLightBR()
beliefbase['lightBR'] = lightBR
super()
return
def getpercepts(self, beliefbase):
dist = 50
beliefbase['distance'] = dist
irR = robohat.irRight()
beliefbase['obstacle_right'] = irR
irL = robohat.irLeft()
beliefbase['obstacle_left'] = irL
irLL = robohat.irLeftLine()
beliefbase['no_line_left'] = irLL
irRL = robohat.irRightLine()
beliefbase['no_line_right'] = irRL
super()
return
def getpercepts(self, beliefbase):
dist = initio.getDistance()
beliefbase['distance'] = dist
irR = initio.irRight()
beliefbase['obstacle_right'] = irR
irL = initio.irLeft()
beliefbase['obstacle_left'] = irL
irLL = initio.irLeftLine()
beliefbase['line_left'] = irLL
irRL = initio.irRightLine()
beliefbase['line_right'] = irRL
super()
return
import simclient.simrobot as initio
import time
speed = 20
turn_speed = 10
initio.init()
# main loop
try:
while True:
if initio.irLeftLine():
initio.turnForward(speed - turn_speed, speed + turn_speed)
time.sleep(0.1)
elif initio.irRightLine():
initio.turnForward(speed + turn_speed, speed - turn_speed)
time.sleep(0.1)
else:
initio.forward(speed)
except KeyboardInterrupt:
initio.cleanup()