def trackTest():
ZumoButton().wait_for_press()
motor = Motors()
ultra = Ultrasonic()
camera = Camera()
stuck = CheckStuck()
motob = Motob(motor)
arbitrator = Arbitrator(motob=motob)
sensob = Sensob()
sensob.set_sensors([ultra, camera])
bbcon = BBCON(arbitrator=arbitrator, motob=motob)
b = TrackObject(priority=1, sensobs=[sensob])
bbcon.set_checkStucker(stuck)
bbcon.add_behavior(b)
bbcon.activate_behavior(0)
bbcon.add_sensob(sensob)
timesteps = 0
while timesteps < 25:
bbcon.run_one_timestep()
timesteps += 1
def main():
wp.wiringPiSetupGpio()
ZumoButton().wait_for_press()
global bbcon
bbcon = BBCON()
signal.signal(signal.SIGINT, signal_handler)
run_forward = RunForward(bbcon, 2, [])
bbcon.add_behavior(run_forward)
bbcon.activate_behavior(run_forward)
#stand_still = StandStill(bbcon, 1, [])
#bbcon.add_behavior(stand_still)
#bbcon.activate_behavior(stand_still)
line_follower = LineFollower(bbcon, 5, [bbcon.sensobs['line_pos']])
bbcon.add_behavior(line_follower)
bbcon.activate_behavior(line_follower)
find_red = FindRed(
bbcon, 3, [bbcon.sensobs['red_search'], bbcon.sensobs['distance']])
bbcon.add_behavior(find_red)
avoid_walls = AvoidWalls(
bbcon, 10, [bbcon.sensobs['distance'], bbcon.sensobs['proximity']])
bbcon.add_behavior(avoid_walls)
bbcon.activate_behavior(avoid_walls)
while True:
bbcon.run_one_timestep()