from kickBallFSM import (kickBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState2", stopWalking)
resetKickBallState = createState("resetKickBallState", lambda: resetSubFSM(kickBallFSM))
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, lookBallFSM)
addTransition(lookBallFSM, seeBall, kickBallFSM)
addTransition(kickBallFSM, noSeeBall, resetKickBallState)
addTransition(resetKickBallState, lambda wm: True, stopWalkState)
addTransition(stopWalkState, lambda wm: True, resetLookBallState)
addTransition(resetLookBallState, lambda wm: True, lookBallFSM)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState2", stopWalking)
resetKickBallState = createState("resetKickBallState",
lambda: resetSubFSM(kickBallFSM))
resetLookBallState = createState("resetLookBallState",
lambda: resetSubFSM(lookBallFSM))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, lookBallFSM)
addTransition(lookBallFSM, seeBall, kickBallFSM)
addTransition(kickBallFSM, noSeeBall, resetKickBallState)
addTransition(resetKickBallState, lambda wm: True, stopWalkState)
addTransition(stopWalkState, lambda wm: True, resetLookBallState)
addTransition(resetLookBallState, lambda wm: True, lookBallFSM)
from functions import (detectTouch, seeBall, noSeeBall, closeToFeet, seeGoal, oneKick,
waitForSit, waitForStand, waitForKick)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState2", stopWalking)
stopWalkState3 = createState("stopWalkState3", stopWalking)
stopWalkState4 = createState("stopWalkState4", stopWalking)
resetKickBallState = createState("resetKickBallState", lambda: resetSubFSM(kickBallFSM))
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState", lambda: resetSubFSM(goToBallFSM))
resetFindGoalState = createState("resetFindGoalState", lambda: resetSubFSM(findGoalFSM))
setBottomCameraState = createState("setBottomCameraState", lambda: setCamera("bottom"))
bottomLedState = createState("bottomLedState", lambda: setLED("eyes", 1, 0, 0)) # Red
lookDownState = createState("lookDownState", lambda: turnHead(0,0.3149))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, waitForStand, standState)
addTransition(standState, lambda wm: True, lookBallFSM)
addTransition(lookBallFSM, seeBall, resetgoToBallState)
addTransition(resetgoToBallState, lambda wm: True, goToBallFSM)
from functions import (detectTouch, seeBall, noSeeBall, closeToFeet, seeGoal,
oneKick, waitForSit, waitForStand, waitForKick,
waitForFindBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
stopWalkState2 = createState("stopWalkState", stopWalking)
resetLookBallState = createState("resetLookBallState",
lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState",
lambda: resetSubFSM(goToBallFSM))
# States for communication
robot = "david"
sendSitStatus = createState("sendSitStatus", lambda: communicate(robot, "Sit"))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, waitForStand, standState)
addTransition(standState, waitForFindBall, lookBallFSM)
from kickBallFSM import (kickBallFSM)
## CREATE STATES ##
standState = createState("standState", stand)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
shutdownState = createState("shutdownState",
lambda : shutdown("Final state reached"))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
stopWalkingState3 = createState("stopWalkingState3", stopWalking)
stopWalkingState4 = createState("stopWalkingState4", stopWalking)
waitSittingState = createState("waitSittingState", lambda: None)
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
resetgoToBallState = createState("resetgoToBallState", lambda: resetSubFSM(goToBallFSM))
resetFindNaoState = createState("resetFindNaoState", lambda: resetSubFSM(findNaoFSM))
setBottomCamState = createState("setBottomCamState", lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState", lambda: setLED("eyes", 1.0, 0.0, 0.0)) # Red
setTopCamState = createState("setTopCamState", lambda: setCamera("top"))
setTopLedState = createState("setTopLedState", lambda: setLED("eyes", 0.0, 1.0, 0.0)) # Green
lookDownState = createState("lookDownState", lambda: turnHead(0,0.3149))
# Create communcationsstates
robot = "piff"
sendStandStatus = createState("sendStandStatus" ,
lambda: communicate(robot, "Stand"))
walkToBallState, watchBallState, stopWalkingState,
stopWalkingState2, setBottomCamState, setBottomLedState)
# Import functions we've written
from functions import (detectTouch, seeBall, noSeeBall)
# Create states
waitSittingState = createState("waitSittingState", lambda: None)
sitState = createState("sitState", sit)
restState = createState("restState", rest)
standState = createState("standState", stand)
shutdownState = createState("shutdownState",
lambda: shutdown("Final state reached"))
stopWalkState = createState("stopWalkState", stopWalking)
resetFollowBallState = createState("resetFollowBallState", lambda: resetSubFSM(followBallFSM))
resetLookBallState = createState("resetLookBallState", lambda: resetSubFSM(lookBallFSM))
# The main FSM
# Transitions for the mainFSM
addTransition(waitSittingState, detectTouch, standState)
addTransition(standState, lambda wm: True, lookBallFSM)
addTransition(lookBallFSM, seeBall, followBallFSM)
addTransition(followBallFSM, noSeeBall, resetFollowBallState)
addTransition(resetFollowBallState, lambda wm: True, stopWalkState)
addTransition(stopWalkState, lambda wm: True, lookBallFSM)
addTransition(followBallFSM, detectTouch, sitState)