def range_test():
io = IO()
while True:
io.go_forward()
# time.sleep(5)
# io._IO__move()
# debug_print(io.move_degrees)
# io.move_degrees += 10
time.sleep(5)
def Main():
map_var = Map(Ghost_mapping_type.none)
io = IO()
logic = Logic(map_var)
button = Button()
saver = Map_saver(map_var, button)
saver.wait_for_load()
print("READY")
motors = {
Moves.fwd: lambda: io.go_forward(),
Moves.left: lambda: io.go_left(),
Moves.right: lambda: io.go_right(),
Moves.back: lambda: io.go_back()
}
mapping = {
Moves.fwd: lambda: map_var.go_forward(),
Moves.left: lambda: map_var.go_left(),
Moves.right: lambda: map_var.go_right(),
Moves.back: lambda: map_var.go_back()
}
motors[Moves.fwd]()
mapping[Moves.fwd]()
while (True):
clr_sensor = io.directions_free()
us_sensor = io.ghost_distance()
map_var.write_sensor_values(clr_sensor, us_sensor)
debug_print(map_var)
move = logic.get_next_move()
debug_print(map_var)
switch[move]()
if button.any():
saver.wait_for_load()
ok = motors[move]()
if (ok is False):
io.after_crash()
map_var.rotation += int(move)
continue
elif (ok is None):
saver.wait_for_load()
continue
mapping[move]()
saver.save_map()
def test():
io = IO()
while True:
io._IO__turn_right()
time.sleep(1)
io._IO__turn_left()
time.sleep(1)
def setup_configuration(cfg):
'''Setup IO and plants according to configuration file'''
# Create dict containing all IO objects
io_object_dict = dict()
for io_name, specification in cfg.get('io').items():
io = IO(io_name, specification)
io_object_dict.update({io_name: io})
for pump_name, specification in cfg.get('pump').items():
pump = Pump(pump_name, specification, io_object_dict)
io_object_dict.update({pump_name: pump})
# Create dict containing all plant objects
plant_object_dict = dict()
for plant_name, specification in cfg.get('plants').items():
plant = Plant(plant_name, specification, io_object_dict)
plant_object_dict.update({plant_name: plant})
return plant_object_dict
def sensors_test():
io = IO()
for _ in range(8):
io.read_sensors()
debug_print("us", io.ultrasonic_sensor_values)
debug_print("color", io.color_sensor_values)
def reg_test():
io = IO()
while True:
io._IO__move_reg()
io.read_sensors()
def touch_sensor_test():
io = IO()
val = False
while True:
debug_print(io.go_forward())
time.sleep(1)
def io_test():
io = IO()
io.go_forward()
io.read_sensors()
io.go_left()
io.read_sensors()
io.go_forward()
io.read_sensors()
io.go_back()
io.read_sensors()
io.go_forward()
io.read_sensors()
io.go_right()