def start_test(self, challenge):
vals = self.parseChallenge(challenge)
if 'd1' not in vals or 'd2' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
d1 = vals['d1']
d2 = vals['d2']
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot, QuickBot_IRSensor
from pose import Pose
bot = QuickBot(Pose())
sensor = QuickBot_IRSensor(Pose(), bot)
id1 = sensor.distance_to_value(d1)
id2 = sensor.distance_to_value(d2)
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
# Just in case a student iterates in a weird way
s.robot.ir_sensors.readings = [id1, id2, id1, id2, id1]
ird = s.get_ir_distances()
self.testsuite.respond("{:0.3f},{:0.3f}".format(
abs((d1 - ird[0]) / d1), abs((d2 - ird[1]) / d2)))
def start_test(self, challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'w' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
vd = vals['v']
wd = vals['w']
QuickBotSupervisor = helpers.load_by_name('week3.QBGTGSupervisor',
'supervisors')
QuickBot = helpers.load_by_name('QuickBot', 'robots')
from pose import Pose
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
vld, vrd = s.uni2diff((vd, wd))
vl, vr = s.ensure_w((vld, vrd))
# Clamp to robot maxima
vl = max(-info.wheels.max_velocity, min(info.wheels.max_velocity, vl))
vr = max(-info.wheels.max_velocity, min(info.wheels.max_velocity, vr))
v, w = bot.diff2uni((vl, vr))
self.testsuite.respond("{:0.3f}".format(abs(w - wd) / wd))
def start_test(self, challenge):
m = self.RX.match(challenge)
if m is None:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
try:
d1 = float(m.group('d1'))
d2 = float(m.group('d2'))
except ValueError:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot, QuickBot_IRSensor
from pose import Pose
bot = QuickBot(Pose())
sensor = QuickBot_IRSensor(Pose(), bot)
id1 = sensor.distance_to_value(d1)
id2 = sensor.distance_to_value(d2)
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
# Just in case a student iterates in a weird way
s.robot.ir_sensors.readings = [id1, id2, id1, id2, id1]
ird = s.get_ir_distances()
self.testsuite.respond("{:0.3f},{:0.3f}".format(
abs((d1 - ird[0]) / d1), abs((d2 - ird[1]) / d2)))
def start_test(self, challenge):
m = self.RX.match(challenge)
if m is None:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
try:
v = float(m.group('v'))
w = float(m.group('w'))
except ValueError:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
info = QuickBot(Pose()).get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
vl, vr = s.uni2diff((v, w))
self.testsuite.respond("{:0.3f},{:0.3f}".format(
vr, vl)) # Note the inverse order
def start_test(self, challenge):
m = self.RX.match(challenge)
if m is None:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
try:
v = float(m.group('v'))
theta = float(m.group('theta'))
except ValueError:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
from helpers import Struct
from math import pi
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
params = Struct()
params.goal = theta * 180 / pi
params.velocity = v
params.pgain = 1
s.set_parameters(params)
tc = 0.033 # 0.033 sec' is the SimIAm time step
for step in range(25): # 25 steps
bot.move(tc)
bot.set_inputs(s.execute(bot.get_info(), tc))
xe, ye, te = s.pose_est
xr, yr, tr = bot.get_pose()
if xr == 0:
xr = 0.0000001
if yr == 0:
yr = 0.0000001
if tr == 0:
tr = 0.0000001
self.testsuite.respond("{:0.3f},{:0.3f},{:0.3f}".format(
abs((xr - xe) / xr), abs((yr - ye) / yr),
abs(abs(tr - te) % (2 * pi) / tr)))
def start_test(self, challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'theta' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
v = vals['v']
theta = vals['theta']
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
from helpers import Struct
from math import pi
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
params = Struct()
params.goal = theta * 180 / pi
params.velocity = v
params.pgain = 1
s.set_parameters(params)
tc = 0.033 # 0.033 sec' is the SimIAm time step
for step in range(25): # 25 steps
bot.move(tc)
bot.set_inputs(s.execute(bot.get_info(), tc))
xe, ye, te = s.pose_est
xr, yr, tr = bot.get_pose()
self.testsuite.respond("{:0.3f},{:0.3f},{:0.3f}".format(
abs((xr - xe) / xr), abs((yr - ye) / yr),
abs(abs(tr - te) % (2 * pi) / tr)))
def start_test(self, challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'w' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
v = vals['v']
w = vals['w']
from supervisors.week2 import QuickBotSupervisor
from robots.quickbot import QuickBot
from pose import Pose
info = QuickBot(Pose()).get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
vl, vr = s.uni2diff((v, w))
self.testsuite.respond("{:0.3f},{:0.3f}".format(
vr, vl)) # Note the inverse order
