def __init__(self, manager, *args, timelimit=None, **kwargs):
RobotBehavior.__init__(self, manager, *args,
timelimit=timelimit, **kwargs)
self.avoidance_behaviour = AviodanceBehaviour(
wheeledbase, roadmap, robot_beacon)
self.wheeledbase = wheeledbase
take1 = TakeCup(geogebra, 1)
take2 = TakeCup(geogebra, 2)
take3 = TakeCup(geogebra, 3)
take4 = TakeCup(geogebra, 4)
take5 = TakeCup(geogebra, 5)
self.automate = [
take5,
take1,
take2,
take3,
take4,
take5,
take1,
take2,
take3,
take4,
take5,
take1,
take2,
take3,
take4,
]
self.automatestep = 0
def __init__(self, manager, *args, timelimit=None, **kwargs):
RobotBehavior.__init__(self, manager, *args, timelimit=timelimit, **kwargs)
self.avoidance_behaviour = AviodanceBehaviour(wheeledbase, roadmap, robot_beacon)
self.strategy = BornibusStrategy(geogebra)
self.automate = self.strategy.get_automate()
self.wheeledbase = wheeledbase
self.cup_collector = cup_collector
self.automatestep = 0
class R128(RobotBehavior):
def __init__(self, manager, *args, timelimit=None, **kwargs):
RobotBehavior.__init__(self, manager, *args,
timelimit=timelimit, **kwargs)
self.avoidance_behaviour = AviodanceBehaviour(
wheeledbase, roadmap, robot_beacon)
self.wheeledbase = wheeledbase
take1 = TakeCup(geogebra, 1)
take2 = TakeCup(geogebra, 2)
take3 = TakeCup(geogebra, 3)
take4 = TakeCup(geogebra, 4)
take5 = TakeCup(geogebra, 5)
self.automate = [
take5,
take1,
take2,
take3,
take4,
take5,
take1,
take2,
take3,
take4,
take5,
take1,
take2,
take3,
take4,
]
self.automatestep = 0
def make_decision(self):
if(self.automatestep < len(self.automate)):
action = self.automate[self.automatestep]
else:
return None, (self,), {}, (None, None)
self.stop_event.set()
return action.procedure, (self,), {}, (action.actionpoint + (action.orientation,), (action.actionpoint_precision, None))
def goto_procedure(self, destination, thresholds=(None, None)):
if self.avoidance_behaviour.move(destination, thresholds):
self.automatestep += 1
return True
else:
return False
def set_side(self, side):
pass
def set_position(self):
wheeledbase.set_position(*geogebra.get('StartBlue'), pi/2)
def positioning(self):
pass
def __init__(self, manager, *args, timelimit=None, **kwargs):
"""The initialisation function create all functional module of the robot. This function also instanciate all the match actions
Args:
manager (class): One instance of the manager client. It is the client part of th proxy to have access of all the arduino daughter cards
timelimit (int, optional): The match time limit, usualy set to 100 seconds. Defaults to None.
"""
RobotBehavior.__init__(self, manager, *args,
timelimit=timelimit, **kwargs)
self.avoidance_behaviour = AviodanceBehaviour(
wheeledbase, roadmap, robot_beacon, sensors)
self.side = RobotBehavior.BLUE_SIDE
self.wheeledbase = wheeledbase
self.display = display
self.actionneur = actionneur
self.automate = []
self.automatestep = 0
self.p = Semaphore(0)
class Bornibus(RobotBehavior):
def __init__(self, manager, *args, timelimit=None, **kwargs):
RobotBehavior.__init__(self, manager, *args, timelimit=timelimit, **kwargs)
self.avoidance_behaviour = AviodanceBehaviour(wheeledbase, roadmap, robot_beacon)
self.strategy = BornibusStrategy(geogebra)
self.automate = self.strategy.get_automate()
self.wheeledbase = wheeledbase
self.cup_collector = cup_collector
self.automatestep = 0
def make_decision(self):
if(self.automatestep < len(self.automate)):
action = self.automate[self.automatestep]
else:
return None, (self,), {}, (None, None)
self.stop_event.set()
return action.procedure, (self,), {}, (action.actionpoint + (action.orientation,), (action.actionpoint_precision, None))
def goto_procedure(self, destination, thresholds=(None, None)):
if self.avoidance_behaviour.move(destination, thresholds):
self.automatestep += 1
return True
else:
return False
def set_side(self, side):
pass
def set_position(self):
self.wheeledbase.set_position(*geogebra.get('StartYellow'), -pi/2)
def positioning(self):
pass
def stop_procedure(self):
self.wheeledbase.stop()
#!/usr/bin/env python3
# coding: utf-8
STARTING_POINT = (935, 2670)
DESTINATION_POINT = (935, 670)
PATH = [STARTING_POINT, DESTINATION_POINT]
if __name__ == "__main__":
from setups.setup_wheeledbase import *
from setups.setup_beacons import *
from behaviours.avoidance_behaviour import AviodanceBehaviour
from time import sleep
behaviour = AviodanceBehaviour(wheeledbase, beacon)
input('Place robot and press touch to start')
wheeledbase.set_position(*STARTING_POINT, -pi / 2)
if behaviour.movement_authorized():
wheeledbase.purepursuit(*PATH, finalangle=-pi / 2)
while not wheeledbase.isarrived():
sleep(0.1)
if not behaviour.movement_authorized():
print('/!\\ Avoidance behavior taking control !')
class Bornibus(RobotBehavior):
"""This class is the main objet of bornibus robot, it contain all the action list and initial configuration to run a match
Args:
RobotBehavior (class): The main bornibus class inherit from the global robot behaviour in order to have a common behaviour for each robot you want
"""
def __init__(self, manager, *args, timelimit=None, **kwargs):
"""The initialisation function create all functional module of the robot. This function also instanciate all the match actions
Args:
manager (class): One instance of the manager client. It is the client part of th proxy to have access of all the arduino daughter cards
timelimit (int, optional): The match time limit, usualy set to 100 seconds. Defaults to None.
"""
RobotBehavior.__init__(self, manager, *args,
timelimit=timelimit, **kwargs)
self.avoidance_behaviour = AviodanceBehaviour(
wheeledbase, roadmap, robot_beacon, sensors)
self.side = RobotBehavior.BLUE_SIDE
self.wheeledbase = wheeledbase
self.display = display
self.actionneur = actionneur
self.automate = []
self.automatestep = 0
self.p = Semaphore(0)
def make_decision(self):
"""This function make a decision to choose the next action to play. Today it basically return th next action on list
/!\ You can describe here you own decision behaviour but the return parameter needs to be the same.
Returns:
[function pointer, class pointer, tuple, float, float]: This function return the next action procedure pointer,
a pointer of itself in order the have full robot acess inside procedure method. The destnation tuple and the precision to reach.
"""
if(self.automatestep < len(self.automate)):
action = self.automate[self.automatestep]
else:
self.display.love(100)
self.stop_event.set()
return None, (self,), {}, (None, None)
return action.procedure, (self,), {}, (action.actionpoint + (action.orientation,), (action.actionpoint_precision, None))
def goto_procedure(self, destination, thresholds=(None, None)):
"""The method describe the behaviour to reach an action point, it use the avoidance beahviour class that describe how to avoid an obstacle.
Args:
destination (tuple): the x, y, theta action point
thresholds (tuple, optional): The optional precision to reach a point. Defaults to (None, None).
Returns:
bool: Return True when the robot successfuly reach the desired position false other.
"""
if self.avoidance_behaviour.move(destination, thresholds):
self.display.happy()
self.automatestep += 1
return True
else:
self.display.surprised()
return False
def set_side(self, side):
"""This function is called during the preparation phase in order to choose the starting side
Args:
side (int): Yellow or blue
"""
self.side = side
self.wind = WindAction(geogebra, self.side)
self.push1 = PushCupAction(geogebra, self.side, 1)
self.push2 = PushCupAction(geogebra, self.side, 2)
self.push3 = PushCupAction(geogebra, self.side, 3)
self.push4 = PushCupAction(geogebra, self.side, 4)
self.harbour = Harbour(geogebra, self.side)
self.automate = [
self.wind,
self.push1,
self.push2,
# self.push3,
# self.push4,
self.harbour
]
def set_position(self):
"""This function apply the starting position of the robot reagading to the choosed side
"""
if self.side == RobotBehavior.YELLOW_SIDE:
wheeledbase.set_position(*geogebra.get('StartYellow'), -pi/2)
else:
wheeledbase.set_position(*geogebra.get('StartBlue'), pi/2)
def positioning(self):
"""This optionnal function can be useful to do a small move after setting up the postion during the preparation phase
"""
if self.side == RobotBehavior.YELLOW_SIDE:
wheeledbase.goto(*geogebra.get('PositionningYellow'), -pi/2)
else:
wheeledbase.goto(*geogebra.get('PositionningBlue'), pi/2)
def start_procedure(self):
"""This action is launched at the beggining of the match
"""
Thread(target=self.stop_match).start()
self.display.start()
def stop_procedure(self):
"""Optionnal function running at the end of match. Usually used to check if the funny action is end
"""
self.p.acquire(blocking=True)
def stop_match(self):
import time
time.sleep(95)
self.actionneur.raise_flag()
time.sleep(4)
wheeledbase.stop()
self.display.love(duration=1000)
self.p.release()
manager.end_game()