def test_analzyer_on_field_model():
"""
Create a model of the field, then ask the laser to compute
the range for sweep. Then move the robot and ask again.
"""
robot = Robot()
field = FieldModel()
tower_range = field.tower_range_from_origin()
rotation = FakeRotation(field, robot)
heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-10,11))
# closest point should be dead ahead
assert heading == 0
assert sweep_range == tower_range
movement = 100
robot.move(movement)
rotation = FakeRotation(field, robot)
heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-10,11))
# closest point should be dead ahead
assert heading == 0
assert sweep_range == (tower_range - movement)
avg_dist = avg_distance(cart_data)
print("Average distance: {:.1f}\n".format(avg_dist))
# plot any calculated markers in their specified color
#lidar_viewer.plot_markers(r2_markers, 'g')
lidar_viewer.plot_polar_markers(find_wall_markers, 'r')
#wall_markers = [max_start, max_end]
#lidar_viewer.plot_markers(wall_markers, 'b')
if __name__ == '__main__':
# put robot at the origin
robot = Robot((0,0), 0)
field_model = FieldModel()
lidar_viewer = LidarViewer()
factor = 4
while True:
text = raw_input("Enter command (mOVE,tURN,sHOW,iNFO,0(origin),hELP or qQUIT): ")
cmd = text.split(" ")[0]
#If we see a quit command, well, quit
if cmd == "q":
break
#Reset robot to the origin with 0 turn
if cmd == "0":
robot = Robot((0,0), 0)