def possibilityLeft():
fenetre.blit(fond, (0, 0))
fenetre.blit(perso, (190, 260))
arrow_left = pygame.transform.scale(arrow_rot_l, (300, 300))
fenetre.blit(arrow_left, (100, 220))
pygame.display.flip()
global event
X = 0.0
Y = 0.0
Theta = 0.5
Frequency = 0.8
motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency) # do some work
time.sleep(tseq)
if event == "RotateLeftA":
sonarProxy.subscribe("SonarApp")
time.sleep(0.25)
valL = memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")
print("a gauche, mon sonar detecte", valL)
valR = memoryProxy.getData(
"Device/SubDeviceList/US/Right/Sensor/Value")
print("a droite, mon sonar detecte", valR)
sonarProxy.unsubscribe("SonarApp")
if valR > TP:
event = "StopRotateA"
for even in pygame.event.get():
if even.type == pygame.KEYDOWN:
event = "Stay"
else:
event = "Stay" # define the default event
for even in pygame.event.get():
if even.type == pygame.QUIT:
sys.exit()
if even.type == pygame.KEYDOWN:
if even.key == pygame.K_s:
event = "StopRotate"
elif even.key == pygame.K_UP:
event = "MoveForward"
cm.ReadytoAvance()
elif even.key == pygame.K_DOWN:
event = "MoveBackward"
cm.AlltoBK()
elif even.key == pygame.K_RIGHT:
event = "StopRotate"
if even.type == pygame.JOYBUTTONDOWN:
if joy.get_button(7) == 1:
event = "StopRotate"
elif even.type == pygame.JOYAXISMOTION:
if joy.get_axis(1) < 0:
event = "MoveForward"
elif joy.get_axis(1) > 0:
event = "MoveBackward"
elif joy.get_axis(0) > 0:
event = "StopRotate"
return event
def possibilityStart():
fenetre.blit(fond, (0, 0))
fenetre.blit(perso, (190, 260))
pygame.display.flip()
global is_sleeping
global event
is_sleeping = False
motionProxy.setStiffnesses("Body", 1.0)
X = 0.0
Y = 0.0
Theta = 0.0
Frequency = 0.8
motionProxy.setWalkTargetVelocity(X, Y, Theta,
Frequency) # do some work # do some work
postureProxy.goToPosture("StandInit", fractSpeed)
time.sleep(tseq)
#procédure évitement
if event == "StopMoveA":
event = "MoveBackwardA"
cm.AlltoBK()
elif event == "StopMoveAR":
#Rajouter compteur au bsn
event = "RotateRightA"
cm.ReadytoRD()
elif event == "StopMoveAL":
event = "RotateLeftA"
cm.ReadytoRG()
elif event == "StopRotateA" or event == "StopMoveAF":
event = "MoveForward"
cm.ReadytoAvance()
else:
event = "Stay"
for even in pygame.event.get():
if even.type == pygame.QUIT:
sys.exit()
if even.type == pygame.KEYDOWN:
if even.key == pygame.K_UP:
event = "MoveForward"
cm.ReadytoAvance()
elif even.key == pygame.K_DOWN:
event = "MoveBackward"
cm.AlltoBK()
elif even.key == pygame.K_LEFT:
event = "RotateLeft"
cm.ReadytoRG()
elif even.key == pygame.K_RIGHT:
event = "RotateRight"
cm.ReadytoRD()
elif even.key == pygame.K_p:
event = "Pause"
cm.ReadytoIDLE()
elif even.key == pygame.K_k:
event = "Kill"
elif even.key == pygame.K_SPACE:
event = "Shoot"
cm.ReadytoShoot()
elif even.key == pygame.K_d:
event = "Dab"
if even.type == pygame.JOYAXISMOTION:
if joy.get_axis(1) < 0:
event = "MoveForward"
elif joy.get_axis(1) > 0:
event = "MoveBackward"
elif joy.get_axis(0) < 0:
event = "RotateLeft"
elif joy.get_axis(0) > 0:
event = "RotateRight"
if even.type == pygame.JOYBUTTONDOWN:
if joy.get_button(2) == 1:
event = "Pause"
elif joy.get_button(6) == 1:
event = "Kill"
elif joy.get_button(0) == 1:
event = "Shoot"
elif joy.get_button(9) == 1:
event = "Dab"
return event