def FTL_sorted():
tv = 0
rv = 0
nbr_list = neighborsX.get_neighbors()
if len(nbr_list) > 0:
# You have neighbors. Follow max-min robot-id. If you're the lowest, become leader.
follow_id = -1
follow_nbr = None
for nbr in nbr_list:
nbr_id = neighborsX.get_nbr_id(nbr)
if nbr_id < rone.get_id() and nbr_id > follow_id:
follow_id = nbr_id
follow_nbr = nbr
if follow_id == -1: # leader
leds.set_pattern('rg', 'blink_fast', LED_BRIGHTNESS)
tv = FTL_TV
rv = 0
#bump_avoid()
else: # follower
leds.set_pattern('b', 'blink_fast', LED_BRIGHTNESS)
(tv, rv) = follow_motion_controller(follow_nbr)
else:
# no neighbors. do nothing
leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
velocity.set_tvrv(tv, rv)
def average_orientation():
# calculate average heading of all neighbors
# compute vector sum of orientation angles and then average
nbr_list = neighborsX.get_neighbors()
if len(nbr_list) > 0:
# You have neighbors
vector_sum = [0, 0]
for nbr in nbr_list:
nbr_heading = neighbor_heading(nbr)
vector_sum[0] += math.cos(nbr_heading)
vector_sum[1] += math.sin(nbr_heading)
average_heading = math.atan2(vector_sum[1], vector_sum[0])
return (FTL_TV, bound(MOTION_RV_GAIN * average_heading, MOTION_RV_MAX))
else:
leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
return (0, 0)
def match_orientation():
# pair-wise orientation match from high-id to low-id
tv = 0
rv = 0
nbr_list = neighborsX.get_neighbors()
if len(nbr_list) > 0:
# You have neighbors. Follow any neighbor. get the first neighbor
leds.set_pattern('rb', 'blink_fast', LED_BRIGHTNESS)
nbr = nbr_list[0]
rv = bound(MOTION_RV_GAIN * neighbor_heading(nbr), MOTION_RV_MAX)
else:
#no neighbors. do nothing
leds.set_pattern('b', 'circle', LED_BRIGHTNESS)
# student code end
velocity.set_tvrv(tv, rv)
def FTL_follower():
# act on the information from the nbr state. Note that this might be
# information stored from the last message we received, because message
# information remains active for a while
tv = 0
rv = 0
nbr_list = neighborsX.get_neighbors()
if len(nbr_list) > 0:
# You have neighbors. Follow any neighbor. get the first neighbor
leds.set_pattern('b', 'blink_fast', LED_BRIGHTNESS)
nbr = nbr_list[0]
(tv, rv) = follow_motion_controller(nbr)
else:
#no neighbors. do nothing
leds.set_pattern('b', 'circle', LED_BRIGHTNESS)
velocity.set_tvrv(tv, rv)
def flock():
# have the robots follow the leader as a flock
global FTL_leader_tv, FTL_leader_rv
tv = 0
rv = 0
nbr_list = neighborsX.get_neighbors()
if len(nbr_list) > 0:
leds.set_pattern('bg', 'blink_fast', LED_BRIGHTNESS)
(tv, rv) = average_orientation()
radio_msg = radio_get_message()
if radio_msg != None:
# we have a message! put lights in active mode
(FTL_leader_tv,
FTL_leader_rv) = leader_motion_controller(radio_msg)
rv += FTL_leader_rv
else:
# no neighbors. do nothing
leds.set_pattern('r', 'circle', LED_BRIGHTNESS)
velocity.set_tvrv(tv, rv)