class Behaviors():
def __init__(self, robot, algorithm):
self.robot = robot
self.lasso = Lasso()
self.algorithm = algorithm
self.state = algorithm.getInitialState(self.getSensorState())
self.terminate = False
self.behaviors = {
"explore": self.explore,
"faceObject": self.faceObject,
"stop": self.stop,
"identifyMoveableObject": self.identifyMoveableObject,
"grab": self.grab,
"release": self.release,
"tryGrab": self.tryGrab,
}
def run(self):
behaviorResult = None
while not self.terminate:
self.state = self.algorithm.eventHandler(self.state,
self.getSensorState(), behaviorResult)
behaviorResult = self.behaviors[self.state]()
def getSensorState(self):
return {
"frontSensors": self.robot.getFrontSensors(),
"groundSensors": self.robot.getGroundSensors(),
"rearSensors": self.robot.getRearSensors(),
"accelerometer": self.robot.getAccelerometer(),
"micIntensity": self.robot.getMicIntensity(),
"lassoState": self.lasso.getState()
}
def safe(self):
return not self.robot.overEdge()
def grab(self):
self.lasso.up()
self.robot.left(10)
self.robot.backwards(2)
while len(filter(lambda x: x > 2500, self.robot.getRearSensors())) > 0:
self.robot.forward(0.1)
self.lasso.down()
def tryGrab(self):
self.grab()
self.robot.forward(5)
time.sleep(1.5)
if len(filter(lambda x: x > 1000, self.robot.getRearSensors())) == 0:
self.release()
return
before_sensors = self.robot.getRearSensors()
self.robot.forward(1)
time.sleep(0.5)
after_sensors = self.robot.getRearSensors()
if len(filter(lambda (x,y): abs(x-y) > 100, zip(before_sensors, after_sensors))) == 0:
self.release()
return
self.robot.left(5)
if len(filter(lambda x: x > 1000, self.robot.getRearSensors())) == 0:
self.release()
