def __init__(self, host = 'localhost', port = 1024):
"""
Initializes the match
"""
self.__match = Match()
self.__match.start(host, port)
print('Field dimensions:', self.__match.world_width, 'x', self.__match.world_height)
print('Robot radius:', self.__match.robot_radius)
self.__variable = {
'ball_angle': Variable({'rear_right': B_RRIGHT, 'right': B_RIGHT, 'front': B_FRONT, 'left': B_LEFT, 'rear_left': B_RLEFT}, name = 'ball_angle'),
'target_angle': Variable({'right': T_RIGHT, 'front': T_FRONT, 'left': T_LEFT}, name = 'target_angle'),
'ball_distance': Variable({'close': CLOSE, 'near': NEAR, 'far': FAR}, 'ball_distance'),
'left_wheel': Variable({'negative_strong': NST, 'negative': NEG, 'zero': ZER, 'positive': POS, 'positive_strong': PST}, 'left_wheel'),
'right_wheel': Variable({'negative_strong': NST, 'negative': NEG, 'zero': ZER, 'positive': POS, 'positive_strong': PST}, 'right_wheel'),
'spin': Variable({'negative': CLOCKWISE, 'zero': SPIN_ZERO, 'positive': ANTICLOCKWISE}, 'spin')
}
left_wheel_rule_maker = RuleGenerator([
self.__variable['ball_angle'],
self.__variable['target_angle'],
self.__variable['spin']
], self.__variable['left_wheel'])
right_wheel_rule_maker = RuleGenerator([
self.__variable['ball_angle'],
self.__variable['target_angle'],
self.__variable['spin']
], self.__variable['right_wheel'])
left_wheel_rules = [
left_wheel_rule_maker.make(['rear_right', 'right', 'negative'], 'negative'), #-9 -> negative, zero
left_wheel_rule_maker.make(['rear_right', 'right', 'zero'], 'zero'), #-8 -> zero, negative
left_wheel_rule_maker.make(['rear_right', 'right', 'positive'], 'positive'), #-7 -> positive, negative
left_wheel_rule_maker.make(['rear_right', 'front', 'negative'], 'negative'), #-6 -> negative, zero
left_wheel_rule_maker.make(['rear_right', 'front', 'zero'], 'zero'), #-5 -> zero, negative
left_wheel_rule_maker.make(['rear_right', 'front', 'positive'], 'zero'),
left_wheel_rule_maker.make(['rear_right', 'left', 'negative'], 'negative'), #-3 -> negative, zero
left_wheel_rule_maker.make(['rear_right', 'left', 'zero'], 'zero'), #-2 -> zero, negative
left_wheel_rule_maker.make(['rear_right', 'left', 'positive'], 'positive'), #-1 -> positive, negative
###
left_wheel_rule_maker.make(['right', 'right', 'negative'], 'positive'), #1 -> positive, zero
left_wheel_rule_maker.make(['right', 'right', 'zero'], 'positive_strong'), #2 -> positive_strong, zero
left_wheel_rule_maker.make(['right', 'right', 'positive'], 'positive_strong'), #3 -> positive_strong, negative
left_wheel_rule_maker.make(['right', 'front', 'negative'], 'zero'), #4 -> zero, negative
left_wheel_rule_maker.make(['right', 'front', 'zero'], 'negative'), #5 -> negative, negative_strong
left_wheel_rule_maker.make(['right', 'front', 'positive'], 'zero'), #6 -> zero, negative_strong
left_wheel_rule_maker.make(['right', 'left', 'negative'], 'positive'), #7 -> positive, zero
left_wheel_rule_maker.make(['right', 'left', 'zero'], 'positive_strong'), #8 -> positive_strong, positive
left_wheel_rule_maker.make(['right', 'left', 'positive'], 'positive_strong'), #9 -> positive_strong, negative
###
left_wheel_rule_maker.make(['front', 'right', 'negative'], 'negative'), #10 -> negative, positive_strong
left_wheel_rule_maker.make(['front', 'right', 'zero'], 'zero'), #11 -> zero, positive
left_wheel_rule_maker.make(['front', 'right', 'positive'], 'zero'), #12 -> zero, positive
left_wheel_rule_maker.make(['front', 'front', 'negative'], 'zero'), #13 -> zero, positive_strong
left_wheel_rule_maker.make(['front', 'front', 'zero'], 'positive'), #14 -> positive, positive
left_wheel_rule_maker.make(['front', 'front', 'positive'], 'positive_strong'), #15 -> positive_strong, zero
left_wheel_rule_maker.make(['front', 'left', 'negative'], 'positive'), #16 -> positive, zero
left_wheel_rule_maker.make(['front', 'left', 'zero'], 'positive'), #17 -> positive, zero
left_wheel_rule_maker.make(['front', 'left', 'positive'], 'positive_strong'), #18 -> positive_strong, negative
###
left_wheel_rule_maker.make(['left', 'right', 'negative'], 'zero'), #19 -> zero, positive_strong
left_wheel_rule_maker.make(['left', 'right', 'zero'], 'positive'), #20 -> positive, positive_strong
left_wheel_rule_maker.make(['left', 'right', 'positive'], 'zero'), #21 -> zero, positive
left_wheel_rule_maker.make(['left', 'front', 'negative'], 'zero'),
left_wheel_rule_maker.make(['left', 'front', 'zero'], 'negative_strong'), #23 -> negative_strong, negative
left_wheel_rule_maker.make(['left', 'front', 'positive'], 'negative_strong'), #24 -> negative_strong, negative
left_wheel_rule_maker.make(['left', 'left', 'negative'], 'negative'), #25 -> negative, positive_strong
left_wheel_rule_maker.make(['left', 'left', 'zero'], 'zero'), #26 -> zero, positive_strong
left_wheel_rule_maker.make(['left', 'left', 'positive'], 'zero'), #27 -> zero, positive
###
left_wheel_rule_maker.make(['rear_left', 'right', 'negative'], 'negative'), #28 -> negative, positive
left_wheel_rule_maker.make(['rear_left', 'right', 'zero'], 'negative'), #29 -> negative, zero
left_wheel_rule_maker.make(['rear_left', 'right', 'positive'], 'zero'), #30 -> zero, negative
left_wheel_rule_maker.make(['rear_left', 'front', 'negative'], 'zero'),
left_wheel_rule_maker.make(['rear_left', 'front', 'zero'], 'zero'),
left_wheel_rule_maker.make(['rear_left', 'front', 'positive'], 'zero'),
left_wheel_rule_maker.make(['rear_left', 'left', 'negative'], 'negative'), #34 -> negative, positive
left_wheel_rule_maker.make(['rear_left', 'left', 'zero'], 'negative'), #35 -> negative, zero
left_wheel_rule_maker.make(['rear_left', 'left', 'positive'], 'zero'), #36 -> zero, negative
]
right_wheel_rules = [
right_wheel_rule_maker.make(['rear_right', 'right', 'negative'], 'negative'), #-9 -> negative, zero
right_wheel_rule_maker.make(['rear_right', 'right', 'zero'], 'negative'), #-8 -> zero, negative
right_wheel_rule_maker.make(['rear_right', 'right', 'positive'], 'negative'), #-7 -> positive, negative
right_wheel_rule_maker.make(['rear_right', 'front', 'negative'], 'zero'), #-6 -> negative, zero
right_wheel_rule_maker.make(['rear_right', 'front', 'zero'], 'negative'), #-5 -> zero, negative
right_wheel_rule_maker.make(['rear_right', 'front', 'positive'], 'zero'),
right_wheel_rule_maker.make(['rear_right', 'left', 'negative'], 'zero'), #-3 -> negative, zero
right_wheel_rule_maker.make(['rear_right', 'left', 'zero'], 'negative'), #-2 -> zero, negative
right_wheel_rule_maker.make(['rear_right', 'left', 'positive'], 'negative'), #-1 -> positive, negative
###
right_wheel_rule_maker.make(['right', 'right', 'negative'], 'zero'), #1 -> positive, zero
right_wheel_rule_maker.make(['right', 'right', 'zero'], 'zero'), #2 -> positive_strong, zero
right_wheel_rule_maker.make(['right', 'right', 'positive'], 'negative'), #3 -> positive_strong, negative
right_wheel_rule_maker.make(['right', 'front', 'negative'], 'negative'), #4 -> zero, negative
right_wheel_rule_maker.make(['right', 'front', 'zero'], 'negative_strong'), #5 -> negative, negative_strong
right_wheel_rule_maker.make(['right', 'front', 'positive'], 'zero'),
right_wheel_rule_maker.make(['right', 'left', 'negative'], 'zero'), #7 -> positive, zero
right_wheel_rule_maker.make(['right', 'left', 'zero'], 'positive'), #8 -> positive_strong, positive
right_wheel_rule_maker.make(['right', 'left', 'positive'], 'negative'), #9 -> positive_strong, negative
###
right_wheel_rule_maker.make(['front', 'right', 'negative'], 'positive_strong'), #10 -> negative, positive_strong
right_wheel_rule_maker.make(['front', 'right', 'zero'], 'positive'), #11 -> zero, positive
right_wheel_rule_maker.make(['front', 'right', 'positive'], 'positive'), #12 -> zero, positive
right_wheel_rule_maker.make(['front', 'front', 'negative'], 'zero'),
right_wheel_rule_maker.make(['front', 'front', 'zero'], 'positive'), #14 -> positive, positive
right_wheel_rule_maker.make(['front', 'front', 'positive'], 'zero'), #15 -> positive_strong, zero
right_wheel_rule_maker.make(['front', 'left', 'negative'], 'zero'), #16 -> positive, zero
right_wheel_rule_maker.make(['front', 'left', 'zero'], 'zero'), #17 -> positive, zero
right_wheel_rule_maker.make(['front', 'left', 'positive'], 'negative'), #18 -> positive_strong, negative
###
right_wheel_rule_maker.make(['left', 'right', 'negative'], 'positive_strong'), #19 -> zero, positive_strong
right_wheel_rule_maker.make(['left', 'right', 'zero'], 'positive_strong'), #20 -> positive, positive_strong
right_wheel_rule_maker.make(['left', 'right', 'positive'], 'positive'), #21 -> zero, positive
right_wheel_rule_maker.make(['left', 'front', 'negative'], 'zero'),
right_wheel_rule_maker.make(['left', 'front', 'zero'], 'negative'), #23 -> negative_strong, negative
right_wheel_rule_maker.make(['left', 'front', 'positive'], 'negative'), #24 -> negative_strong, negative
right_wheel_rule_maker.make(['left', 'left', 'negative'], 'positive_strong'), #25 -> negative, positive_strong
right_wheel_rule_maker.make(['left', 'left', 'zero'], 'positive_strong'), #26 -> zero, positive_strong
right_wheel_rule_maker.make(['left', 'left', 'positive'], 'positive'), #27 -> zero, positive
###
right_wheel_rule_maker.make(['rear_left', 'right', 'negative'], 'positive'), #28 -> negative, positive
right_wheel_rule_maker.make(['rear_left', 'right', 'zero'], 'zero'), #29 -> negative, zero
right_wheel_rule_maker.make(['rear_left', 'right', 'positive'], 'negative'), #30 -> zero, negative
right_wheel_rule_maker.make(['rear_left', 'front', 'negative'], 'zero'),
right_wheel_rule_maker.make(['rear_left', 'front', 'zero'], 'zero'),
right_wheel_rule_maker.make(['rear_left', 'front', 'positive'], 'zero'),
right_wheel_rule_maker.make(['rear_left', 'left', 'negative'], 'positive'), #34 -> negative, positive
right_wheel_rule_maker.make(['rear_left', 'left', 'zero'], 'zero'), #35 -> negative, zero
right_wheel_rule_maker.make(['rear_left', 'left', 'positive'], 'negative'), #36 -> zero, negative
]
self.__left_wheel_fis = FuzzySystem(left_wheel_rules, self.__variable['left_wheel'], 'left')
self.__right_wheel_fis = FuzzySystem(right_wheel_rules, self.__variable['right_wheel'], 'right')
class Player:
"""
Fuzzy controller for the Robot Soccer Simulator
"""
def __init__(self, host = 'localhost', port = 1024):
"""
Initializes the match
"""
self.__match = Match()
self.__match.start(host, port)
print('Field dimensions:', self.__match.world_width, 'x', self.__match.world_height)
print('Robot radius:', self.__match.robot_radius)
self.__variable = {
'ball_angle': Variable({'rear_right': B_RRIGHT, 'right': B_RIGHT, 'front': B_FRONT, 'left': B_LEFT, 'rear_left': B_RLEFT}, name = 'ball_angle'),
'target_angle': Variable({'right': T_RIGHT, 'front': T_FRONT, 'left': T_LEFT}, name = 'target_angle'),
'ball_distance': Variable({'close': CLOSE, 'near': NEAR, 'far': FAR}, 'ball_distance'),
'left_wheel': Variable({'negative_strong': NST, 'negative': NEG, 'zero': ZER, 'positive': POS, 'positive_strong': PST}, 'left_wheel'),
'right_wheel': Variable({'negative_strong': NST, 'negative': NEG, 'zero': ZER, 'positive': POS, 'positive_strong': PST}, 'right_wheel'),
'spin': Variable({'negative': CLOCKWISE, 'zero': SPIN_ZERO, 'positive': ANTICLOCKWISE}, 'spin')
}
left_wheel_rule_maker = RuleGenerator([
self.__variable['ball_angle'],
self.__variable['target_angle'],
self.__variable['spin']
], self.__variable['left_wheel'])
right_wheel_rule_maker = RuleGenerator([
self.__variable['ball_angle'],
self.__variable['target_angle'],
self.__variable['spin']
], self.__variable['right_wheel'])
left_wheel_rules = [
left_wheel_rule_maker.make(['rear_right', 'right', 'negative'], 'negative'), #-9 -> negative, zero
left_wheel_rule_maker.make(['rear_right', 'right', 'zero'], 'zero'), #-8 -> zero, negative
left_wheel_rule_maker.make(['rear_right', 'right', 'positive'], 'positive'), #-7 -> positive, negative
left_wheel_rule_maker.make(['rear_right', 'front', 'negative'], 'negative'), #-6 -> negative, zero
left_wheel_rule_maker.make(['rear_right', 'front', 'zero'], 'zero'), #-5 -> zero, negative
left_wheel_rule_maker.make(['rear_right', 'front', 'positive'], 'zero'),
left_wheel_rule_maker.make(['rear_right', 'left', 'negative'], 'negative'), #-3 -> negative, zero
left_wheel_rule_maker.make(['rear_right', 'left', 'zero'], 'zero'), #-2 -> zero, negative
left_wheel_rule_maker.make(['rear_right', 'left', 'positive'], 'positive'), #-1 -> positive, negative
###
left_wheel_rule_maker.make(['right', 'right', 'negative'], 'positive'), #1 -> positive, zero
left_wheel_rule_maker.make(['right', 'right', 'zero'], 'positive_strong'), #2 -> positive_strong, zero
left_wheel_rule_maker.make(['right', 'right', 'positive'], 'positive_strong'), #3 -> positive_strong, negative
left_wheel_rule_maker.make(['right', 'front', 'negative'], 'zero'), #4 -> zero, negative
left_wheel_rule_maker.make(['right', 'front', 'zero'], 'negative'), #5 -> negative, negative_strong
left_wheel_rule_maker.make(['right', 'front', 'positive'], 'zero'), #6 -> zero, negative_strong
left_wheel_rule_maker.make(['right', 'left', 'negative'], 'positive'), #7 -> positive, zero
left_wheel_rule_maker.make(['right', 'left', 'zero'], 'positive_strong'), #8 -> positive_strong, positive
left_wheel_rule_maker.make(['right', 'left', 'positive'], 'positive_strong'), #9 -> positive_strong, negative
###
left_wheel_rule_maker.make(['front', 'right', 'negative'], 'negative'), #10 -> negative, positive_strong
left_wheel_rule_maker.make(['front', 'right', 'zero'], 'zero'), #11 -> zero, positive
left_wheel_rule_maker.make(['front', 'right', 'positive'], 'zero'), #12 -> zero, positive
left_wheel_rule_maker.make(['front', 'front', 'negative'], 'zero'), #13 -> zero, positive_strong
left_wheel_rule_maker.make(['front', 'front', 'zero'], 'positive'), #14 -> positive, positive
left_wheel_rule_maker.make(['front', 'front', 'positive'], 'positive_strong'), #15 -> positive_strong, zero
left_wheel_rule_maker.make(['front', 'left', 'negative'], 'positive'), #16 -> positive, zero
left_wheel_rule_maker.make(['front', 'left', 'zero'], 'positive'), #17 -> positive, zero
left_wheel_rule_maker.make(['front', 'left', 'positive'], 'positive_strong'), #18 -> positive_strong, negative
###
left_wheel_rule_maker.make(['left', 'right', 'negative'], 'zero'), #19 -> zero, positive_strong
left_wheel_rule_maker.make(['left', 'right', 'zero'], 'positive'), #20 -> positive, positive_strong
left_wheel_rule_maker.make(['left', 'right', 'positive'], 'zero'), #21 -> zero, positive
left_wheel_rule_maker.make(['left', 'front', 'negative'], 'zero'),
left_wheel_rule_maker.make(['left', 'front', 'zero'], 'negative_strong'), #23 -> negative_strong, negative
left_wheel_rule_maker.make(['left', 'front', 'positive'], 'negative_strong'), #24 -> negative_strong, negative
left_wheel_rule_maker.make(['left', 'left', 'negative'], 'negative'), #25 -> negative, positive_strong
left_wheel_rule_maker.make(['left', 'left', 'zero'], 'zero'), #26 -> zero, positive_strong
left_wheel_rule_maker.make(['left', 'left', 'positive'], 'zero'), #27 -> zero, positive
###
left_wheel_rule_maker.make(['rear_left', 'right', 'negative'], 'negative'), #28 -> negative, positive
left_wheel_rule_maker.make(['rear_left', 'right', 'zero'], 'negative'), #29 -> negative, zero
left_wheel_rule_maker.make(['rear_left', 'right', 'positive'], 'zero'), #30 -> zero, negative
left_wheel_rule_maker.make(['rear_left', 'front', 'negative'], 'zero'),
left_wheel_rule_maker.make(['rear_left', 'front', 'zero'], 'zero'),
left_wheel_rule_maker.make(['rear_left', 'front', 'positive'], 'zero'),
left_wheel_rule_maker.make(['rear_left', 'left', 'negative'], 'negative'), #34 -> negative, positive
left_wheel_rule_maker.make(['rear_left', 'left', 'zero'], 'negative'), #35 -> negative, zero
left_wheel_rule_maker.make(['rear_left', 'left', 'positive'], 'zero'), #36 -> zero, negative
]
right_wheel_rules = [
right_wheel_rule_maker.make(['rear_right', 'right', 'negative'], 'negative'), #-9 -> negative, zero
right_wheel_rule_maker.make(['rear_right', 'right', 'zero'], 'negative'), #-8 -> zero, negative
right_wheel_rule_maker.make(['rear_right', 'right', 'positive'], 'negative'), #-7 -> positive, negative
right_wheel_rule_maker.make(['rear_right', 'front', 'negative'], 'zero'), #-6 -> negative, zero
right_wheel_rule_maker.make(['rear_right', 'front', 'zero'], 'negative'), #-5 -> zero, negative
right_wheel_rule_maker.make(['rear_right', 'front', 'positive'], 'zero'),
right_wheel_rule_maker.make(['rear_right', 'left', 'negative'], 'zero'), #-3 -> negative, zero
right_wheel_rule_maker.make(['rear_right', 'left', 'zero'], 'negative'), #-2 -> zero, negative
right_wheel_rule_maker.make(['rear_right', 'left', 'positive'], 'negative'), #-1 -> positive, negative
###
right_wheel_rule_maker.make(['right', 'right', 'negative'], 'zero'), #1 -> positive, zero
right_wheel_rule_maker.make(['right', 'right', 'zero'], 'zero'), #2 -> positive_strong, zero
right_wheel_rule_maker.make(['right', 'right', 'positive'], 'negative'), #3 -> positive_strong, negative
right_wheel_rule_maker.make(['right', 'front', 'negative'], 'negative'), #4 -> zero, negative
right_wheel_rule_maker.make(['right', 'front', 'zero'], 'negative_strong'), #5 -> negative, negative_strong
right_wheel_rule_maker.make(['right', 'front', 'positive'], 'zero'),
right_wheel_rule_maker.make(['right', 'left', 'negative'], 'zero'), #7 -> positive, zero
right_wheel_rule_maker.make(['right', 'left', 'zero'], 'positive'), #8 -> positive_strong, positive
right_wheel_rule_maker.make(['right', 'left', 'positive'], 'negative'), #9 -> positive_strong, negative
###
right_wheel_rule_maker.make(['front', 'right', 'negative'], 'positive_strong'), #10 -> negative, positive_strong
right_wheel_rule_maker.make(['front', 'right', 'zero'], 'positive'), #11 -> zero, positive
right_wheel_rule_maker.make(['front', 'right', 'positive'], 'positive'), #12 -> zero, positive
right_wheel_rule_maker.make(['front', 'front', 'negative'], 'zero'),
right_wheel_rule_maker.make(['front', 'front', 'zero'], 'positive'), #14 -> positive, positive
right_wheel_rule_maker.make(['front', 'front', 'positive'], 'zero'), #15 -> positive_strong, zero
right_wheel_rule_maker.make(['front', 'left', 'negative'], 'zero'), #16 -> positive, zero
right_wheel_rule_maker.make(['front', 'left', 'zero'], 'zero'), #17 -> positive, zero
right_wheel_rule_maker.make(['front', 'left', 'positive'], 'negative'), #18 -> positive_strong, negative
###
right_wheel_rule_maker.make(['left', 'right', 'negative'], 'positive_strong'), #19 -> zero, positive_strong
right_wheel_rule_maker.make(['left', 'right', 'zero'], 'positive_strong'), #20 -> positive, positive_strong
right_wheel_rule_maker.make(['left', 'right', 'positive'], 'positive'), #21 -> zero, positive
right_wheel_rule_maker.make(['left', 'front', 'negative'], 'zero'),
right_wheel_rule_maker.make(['left', 'front', 'zero'], 'negative'), #23 -> negative_strong, negative
right_wheel_rule_maker.make(['left', 'front', 'positive'], 'negative'), #24 -> negative_strong, negative
right_wheel_rule_maker.make(['left', 'left', 'negative'], 'positive_strong'), #25 -> negative, positive_strong
right_wheel_rule_maker.make(['left', 'left', 'zero'], 'positive_strong'), #26 -> zero, positive_strong
right_wheel_rule_maker.make(['left', 'left', 'positive'], 'positive'), #27 -> zero, positive
###
right_wheel_rule_maker.make(['rear_left', 'right', 'negative'], 'positive'), #28 -> negative, positive
right_wheel_rule_maker.make(['rear_left', 'right', 'zero'], 'zero'), #29 -> negative, zero
right_wheel_rule_maker.make(['rear_left', 'right', 'positive'], 'negative'), #30 -> zero, negative
right_wheel_rule_maker.make(['rear_left', 'front', 'negative'], 'zero'),
right_wheel_rule_maker.make(['rear_left', 'front', 'zero'], 'zero'),
right_wheel_rule_maker.make(['rear_left', 'front', 'positive'], 'zero'),
right_wheel_rule_maker.make(['rear_left', 'left', 'negative'], 'positive'), #34 -> negative, positive
right_wheel_rule_maker.make(['rear_left', 'left', 'zero'], 'zero'), #35 -> negative, zero
right_wheel_rule_maker.make(['rear_left', 'left', 'positive'], 'negative'), #36 -> zero, negative
]
self.__left_wheel_fis = FuzzySystem(left_wheel_rules, self.__variable['left_wheel'], 'left')
self.__right_wheel_fis = FuzzySystem(right_wheel_rules, self.__variable['right_wheel'], 'right')
def play(self):
"""
Play using fuzzy controller
"""
fuzzy_left = self.__left_wheel_fis
fuzzy_right = self.__right_wheel_fis
variable = self.__variable
match = self.__match
while(True):
# Gets updated environment values
variable['ball_angle'].value = match.get_ball_angle()
variable['target_angle'].value = match.get_target_angle()
variable['ball_distance'].value = match.get_ball_distance()
variable['spin'].value = match.get_spin()
# Updates fuzzy outputs
fuzzy_left.update()
fuzzy_right.update()
# Calculate final forces for each wheel
left_wheel = variable['left_wheel'].value
right_wheel = variable['right_wheel'].value
# Debug information
if(DEBUG and abs(variable['left_wheel'].partition('zero').membership() - 1) < 1e-5 and abs(variable['right_wheel'].partition('zero').membership() - 1) < 1e-5):
print('INPUTS:', '-----', sep = '\n')
print(variable['ball_angle'])
print(variable['target_angle'])
print(variable['ball_distance'])
print(variable['spin'])
print('\nOUTPUTS:', '-----', sep = '\n')
print(variable['left_wheel'])
print(variable['right_wheel'])
print('output:', left_wheel, right_wheel)
print('-'*30)
input('')
# Act
match.act(left_wheel, right_wheel)
