def explore(room): # Move to a new area, returns area object
# initialize room.current_area if it does not exsist
if not room.current_area:
room.current_area = Area()
# Test output
print "Exploring (moving to a new location) ..."
# Beep to indicate begining of explore step
buzzer = Buzzer()
buzzer.play(5)
# Create new area and move objects
new_area = Area()
move = Move()
# Make sure move is set as a real move (performed by robot)
move.type = "Real"
# Link it to the previous object
new_area.previous.append(room.current_area.name)
# Initial position set to position of previous area
move.initial_pos = room.current_area.pos
# Vector of movement used
move = get_move_vector(move)
# Break down movement vector into motion primitives that robot can execute
move.getMotionPlan()
for (direction, amount) in move.primitives:
print "Moving " + str(direction) + " " + str(amount)
# moveBot(direction, amount, params.p['MOTOR_PWR'])
# Get final position by summing initial position and delta
move.final_pos = [init + delt for init, delt in zip(move.initial_pos, move.delta)]
# TODO: put a kalman filter on the movement. Use camera and sonar as
# truth? Not sure here
# # Test print
# print "Describing move in explore function"
move.describe()
# Update location of new area to final position of move
new_area.pos = move.final_pos
# Add move to new area's dictionary of moves
new_area.moves_performed[room.current_area.name] = move
# Redirect current area to this new_area
room.current_area = new_area
# Localize bot in new area
# new_area.localize
# # Test print
# print "Describing new_area in explore function"
# new_area.describe()
# Append new_area to room
room.areas.append(new_area)
# Return updated room object
return room
