class Robot: def __init__(self, scene, robot_id): self.robot_id = robot_id self.done = False self.signal = None self.turtle = RawTurtle(scene.canvas) self.scene = scene self.scr = self.turtle.getscreen() self.scr.setworldcoordinates(0, scene.height, scene.width, 0) self.turtle.penup() self.reset() def reset(self): positions = [((15,15), 45), ((self.scene.width-15, 15), 135), ((15, self.scene.height-15), 315), ((self.scene.height-15, self.scene.width-15), 135)] self.turtle.speed(0) self.turtle.setpos(positions[self.robot_id][0]) print positions[self.robot_id] self.turtle.left(positions[self.robot_id][1]) self.turtle.forward(20) self.turtle.speed("normal") def process(self): ##sets variables for checking collision turtle_x = self.turtle.xcor() turtle_y = self.turtle.ycor() t_heading = self.turtle.heading() ##variables used to check right xr = turtle_x + 15*math.cos(math.radians(self.turtle.heading()+30)) yr = turtle_y + 15*math.sin(math.radians(self.turtle.heading()+30)) ##variables used to check left xl = turtle_x + 15*math.cos(math.radians(self.turtle.heading()-30)) yl = turtle_y + 15*math.sin(math.radians(self.turtle.heading()-30)) ##turns the robot at window boundries st_orient = [0, 90, 180, 270] bounce_d = 20 if turtle_x - bounce_d < 0: self.turtle.setheading(180-t_heading) if turtle_x + bounce_d > self.scene.width: self.turtle.setheading(180-t_heading) if turtle_y - bounce_d < 0: self.turtle.setheading(360-t_heading) if turtle_y + bounce_d > self.scene.height: self.turtle.setheading(360-t_heading) ##check collisions left = self.scene.canvas.find_overlapping(xl-1,yl-1,xl+1,yl+1) right = self.scene.canvas.find_overlapping(xr-1,yr-1,xr+1,yr+1) if self.goal_id in left + right: self.done = True elif left: ##turn away self.turtle.left(10) elif right: ##turn away self.turtle.right(10) else: ##else move forward self.turtle.forward(5) ##if goal not reached: if self.signal: if self.signal == "STOP": self.signal = None return elif not self.done: self.scene.master.after(20, self.process)
class Vehicle: ############################################################################################################### def __init__(self, turtle_window, id_number): self.speed_params = [20, 0.2, 6] self.turn_parameters = [20] self.turtle_window = turtle_window self.max_location = self.turtle_window.screen_size / 2 - 10 self.vehicle = RawTurtle(self.turtle_window.wn) self.vehicle.hideturtle() self.id_number = id_number self.type = random.choice(["crossed", "direct"]) self.vehicle.shape('turtle') self.vehicle.turtlesize(1) self.vehicle.penup() if self.type == 'crossed': self.vehicle.color("red", (1, 0.85, 0.85)) else: self.vehicle.color("blue", (0.85, 0.85, 1)) self.place() self.vehicle.showturtle() def place(self): self.vehicle.goto( random.randint(-self.max_location, self.max_location), random.randint(-self.max_location, self.max_location)) self.vehicle.right(random.randint(0, 360)) ############################################################################################################### def move(self): cumulative_speed = 0 cumulative_turn_amount = 0 for heat_source in self.turtle_window.heat_source_list: input_distance = self.vehicle.distance( heat_source.heat_source.pos()) input_angle = self.vehicle.heading() - self.vehicle.towards( heat_source.heat_source.pos()) sin_angle = math.sin(math.radians(input_angle)) left_sensor_distance = input_distance - sin_angle right_sensor_distance = input_distance + sin_angle left_speed, right_speed, combined_speed = self.compute_speed( left_sensor_distance, right_sensor_distance) turn_amount = self.turn_parameters[0] * (right_speed - left_speed) cumulative_speed += combined_speed cumulative_turn_amount += turn_amount if isinstance(cumulative_turn_amount, complex): cumulative_turn_amount = 0 if cumulative_speed < 0: cumulative_speed = 0 self.vehicle.right(cumulative_turn_amount) self.vehicle.forward(cumulative_speed) self.check_border_collision() def check_border_collision(self): if self.vehicle.xcor() > self.max_location: self.vehicle.goto(self.max_location, self.vehicle.ycor()) if self.vehicle.xcor() < -self.max_location: self.vehicle.goto(-self.max_location, self.vehicle.ycor()) if self.vehicle.ycor() > self.max_location: self.vehicle.goto(self.vehicle.xcor(), self.max_location) if self.vehicle.ycor() < -self.max_location: self.vehicle.goto(self.vehicle.xcor(), -self.max_location) if self.vehicle.ycor() <= -self.max_location: if 0 <= self.vehicle.heading() <= 180: turn_angle = 180 - self.vehicle.heading() self.vehicle.setheading(turn_angle) else: turn_angle = abs(360 - self.vehicle.heading()) self.vehicle.setheading(turn_angle) if self.vehicle.ycor() >= self.max_location: if 0 <= self.vehicle.heading() <= 180: turn_angle = 360 - self.vehicle.heading() self.vehicle.setheading(turn_angle) else: turn_angle = 360 - (self.vehicle.heading() - 180) self.vehicle.setheading(turn_angle) if self.vehicle.xcor() <= -self.max_location: if 0 <= self.vehicle.heading() <= 90: turn_angle = 360 - self.vehicle.heading() self.vehicle.setheading(turn_angle) if 270 < self.vehicle.heading() <= 360: turn_angle = 360 - self.vehicle.heading() self.vehicle.setheading(turn_angle) if 90 < self.vehicle.heading() < 180: turn_angle = self.vehicle.heading() - 90 self.vehicle.setheading(turn_angle) if 180 <= self.vehicle.heading() <= 360: turn_angle = self.vehicle.heading() + 90 self.vehicle.setheading(turn_angle) if self.vehicle.xcor() >= self.max_location: if 0 <= self.vehicle.heading() <= 180: turn_angle = self.vehicle.heading() + 90 self.vehicle.setheading(turn_angle) else: turn_angle = self.vehicle.heading() - 90 self.vehicle.setheading(turn_angle) ############################################################################################################### def compute_speed(self, left_distance, right_distance): if self.type == 'crossed': left_speed = ( self.speed_params[0] / (right_distance**self.speed_params[1])) - self.speed_params[2] right_speed = ( self.speed_params[0] / (left_distance**self.speed_params[1])) - self.speed_params[2] else: left_speed = ( self.speed_params[0] / (left_distance**self.speed_params[1])) - self.speed_params[2] right_speed = ( self.speed_params[0] / (right_distance**self.speed_params[1])) - self.speed_params[2] combined_speed = (left_speed + right_speed) / 2 return left_speed, right_speed, combined_speed
class Vehicle: def __init__(self, turtle_window, id_number): # comment here self.turtle_window = turtle_window self.id_number = id_number # comment here self.speed_params = [20, 0.2, 6] self.turn_parameters = [20] # comment here self.turtle_object = RawTurtle(self.turtle_window.wn) self.turtle_object.hideturtle() self.turtle_object.shape('turtle') self.turtle_object.turtlesize(1) self.turtle_object.penup() # comment here self.likes_food_dict = {'Sugar': random.choice([True, False])} # comment here if self.likes_food_dict['Sugar']: self.turtle_object.color("red", (1, 0.85, 0.85)) else: self.turtle_object.color("blue", (0.85, 0.85, 1)) # comment here self.place() self.turtle_object.showturtle() def place(self): # comment here self.turtle_object.goto(random.randint(-MAX_LOCATION, MAX_LOCATION), random.randint(-MAX_LOCATION, MAX_LOCATION)) self.turtle_object.right(random.randint(0, 360)) def move(self): # comment here cumulative_speed = 0 cumulative_turn_amount = 0 # comment here for food_source in self.turtle_window.food_source_list: # comment here likes_food = self.likes_food_dict[food_source.name] # comment here input_distance = self.turtle_object.distance( food_source.turtle_object.pos()) # comment here input_angle = self.turtle_object.heading( ) - self.turtle_object.towards(food_source.turtle_object.pos()) # comment here sin_angle = math.sin(math.radians(input_angle)) # comment here left_sensor_distance = input_distance - sin_angle right_sensor_distance = input_distance + sin_angle # comment here left_speed, right_speed, combined_speed = self.compute_speed( left_sensor_distance, right_sensor_distance, likes_food) # comment here turn_amount = self.turn_parameters[0] * (right_speed - left_speed) # comment here cumulative_speed += combined_speed cumulative_turn_amount += turn_amount # comment here if isinstance(cumulative_turn_amount, complex): cumulative_turn_amount = 0 # comment here if cumulative_speed < 0: cumulative_speed = 0 # comment here self.turtle_object.right(cumulative_turn_amount) self.turtle_object.forward(cumulative_speed) # comment here self.check_border_collision() def check_border_collision(self): ''' comment here. Make one big comment for the function, but it must be more specific and detailed then just repeating the function name... ''' if self.turtle_object.xcor() > MAX_LOCATION: self.turtle_object.goto(MAX_LOCATION, self.turtle_object.ycor()) if self.turtle_object.xcor() < -MAX_LOCATION: self.turtle_object.goto(-MAX_LOCATION, self.turtle_object.ycor()) if self.turtle_object.ycor() > MAX_LOCATION: self.turtle_object.goto(self.turtle_object.xcor(), MAX_LOCATION) if self.turtle_object.ycor() < -MAX_LOCATION: self.turtle_object.goto(self.turtle_object.xcor(), -MAX_LOCATION) if self.turtle_object.ycor() <= -MAX_LOCATION: if 0 <= self.turtle_object.heading() <= 180: turn_angle = 180 - self.turtle_object.heading() self.turtle_object.setheading(turn_angle) else: turn_angle = abs(360 - self.turtle_object.heading()) self.turtle_object.setheading(turn_angle) if self.turtle_object.ycor() >= MAX_LOCATION: if 0 <= self.turtle_object.heading() <= 180: turn_angle = 360 - self.turtle_object.heading() self.turtle_object.setheading(turn_angle) else: turn_angle = 360 - (self.turtle_object.heading() - 180) self.turtle_object.setheading(turn_angle) if self.turtle_object.xcor() <= -MAX_LOCATION: if 0 <= self.turtle_object.heading() <= 90: turn_angle = 360 - self.turtle_object.heading() self.turtle_object.setheading(turn_angle) if 270 < self.turtle_object.heading() <= 360: turn_angle = 360 - self.turtle_object.heading() self.turtle_object.setheading(turn_angle) if 90 < self.turtle_object.heading() < 180: turn_angle = self.turtle_object.heading() - 90 self.turtle_object.setheading(turn_angle) if 180 <= self.turtle_object.heading() <= 360: turn_angle = self.turtle_object.heading() + 90 self.turtle_object.setheading(turn_angle) if self.turtle_object.xcor() >= MAX_LOCATION: if 0 <= self.turtle_object.heading() <= 180: turn_angle = self.turtle_object.heading() + 90 self.turtle_object.setheading(turn_angle) else: turn_angle = self.turtle_object.heading() - 90 self.turtle_object.setheading(turn_angle) ############################################################################################################### def compute_speed(self, left_distance, right_distance, likes_food): ''' comment here. Make one big comment for the function, but it must be more specific and detailed then just repeating the function name... explain this in Braitenberg's terms ''' if likes_food: left_speed = ( self.speed_params[0] / (right_distance**self.speed_params[1])) - self.speed_params[2] right_speed = ( self.speed_params[0] / (left_distance**self.speed_params[1])) - self.speed_params[2] else: left_speed = ( self.speed_params[0] / (left_distance**self.speed_params[1])) - self.speed_params[2] right_speed = ( self.speed_params[0] / (right_distance**self.speed_params[1])) - self.speed_params[2] combined_speed = (left_speed + right_speed) / 2 return left_speed, right_speed, combined_speed
class Robot: def __init__(self, scene, robot_id): #sets variables self.robot_id = robot_id self.turtle = RawTurtle(scene.canvas) self.scene = scene self.scr = self.turtle.getscreen() self.scr.setworldcoordinates(0, scene.height, scene.width, 0) self.turtle.penup() if robot_id == 1: self.turtle.color("blue") else: self.turtle.color("red") #create turtles sprite ## self.turtle.register_shape("ship",((-7,-2),(-6,-1),(-3,0),(-3,1),(-2,5), ## (0,7),(2,5),(3,1),(3,0),(6,-1),(7,-2), ## (3,-1),(3,-2),(2,-7),(-2,-7),(-3,-2), ## (-3,-1),(-2,-1),(-2,-2),(-1,-6),(1,-6), ## (2,-2),(2,-1),(-2,-1),(-2,0),(2,0), ## (2,1),(1,4),(0,5),(-1,4),(-2,1), ## (-2,-1),(-3,-1)) ## ) ## self.turtle.shape("ship") ## self.turtle.shapesize(2,2) #place robot using reset self.reset() def reset(self): #set start positions for robots positions = [((15,15), 45), ((self.scene.width-15, 15), 135), ((15, self.scene.height-15), 315), ((self.scene.height-15, self.scene.width-15), 135)] #move robot to starting possition self.turtle.speed(0) self.turtle.setpos(positions[self.robot_id][0]) #print positions[self.robot_id] self.turtle.left(positions[self.robot_id][1]) self.turtle.forward(20) self.turtle.speed(0) self.turtle.screen.bgcolor("sky blue") def orientate(self, landmarks, canvas, goal): ##sd = shortest distance ##x1,x2,y1,y2 = circles corners ##lx,ly = length x/y ##h = hypothinus ##ln = landmark number sd = 40000000 ln = 0 for ID in landmarks: if canvas.itemcget(ID, "fill") == "dark green": ln+=1 x1,y1,x2,y2 = canvas.coords(ID) lx = ((x1+x2)/2) - self.turtle.xcor() ly = ((y1+y2)/2) - self.turtle.ycor() h = math.sqrt(lx*lx + ly*ly) if h < sd: sd = h stored_ID = ID stored_x = lx stored_y = ly if ln == 0: stored_ID = goal x1,y1,x2,y2 = canvas.coords(goal) lx = ((x1+x2)/2) - self.turtle.xcor() ly = ((y1+y2)/2) - self.turtle.ycor() sd = math.sqrt(lx*lx + ly*ly) stored_x = ((x1+x2)/2) - self.turtle.xcor() stored_y = ((y1+y2)/2) - self.turtle.ycor() if sd < 37: return stored_ID if stored_x < 0: if stored_y < 0: new_heading = 180 + math.degrees(math.atan((-stored_y)/(-stored_x))) else: new_heading = 180 - math.degrees(math.atan(stored_y/(-stored_x))) elif stored_y < 0: new_heading = 360 - math.degrees(math.atan((-stored_y)/stored_x)) else: new_heading = math.degrees(math.atan(stored_y/stored_x)) self.turtle.seth(new_heading) return False def collisions_move(self, speed, depth): ##breaks the recursion if the robots get to close if depth > 10: return ##sets variables for checking collision turtle_x = self.turtle.xcor() turtle_y = self.turtle.ycor() t_heading = self.turtle.heading() ##variables used to check right xr = turtle_x + 15*math.cos(math.radians(self.turtle.heading()+30)) yr = turtle_y + 15*math.sin(math.radians(self.turtle.heading()+30)) ##variables used to check left xl = turtle_x + 15*math.cos(math.radians(self.turtle.heading()-30)) yl = turtle_y + 15*math.sin(math.radians(self.turtle.heading()-30)) ##check for the collision left = self.scene.canvas.find_overlapping(xl-1,yl-1,xl+1,yl+1) right = self.scene.canvas.find_overlapping(xr-1,yr-1,xr+1,yr+1) if left: ##turn away self.turtle.left(20) self.collisions_move(speed, depth+1) #self.turtle.forward(speed/5) elif right: ##turn away self.turtle.right(20) self.collisions_move(speed, depth+1) #self.turtle.forward(speed/5) else: ##else move forward self.turtle.forward(speed) return