elif obj[1] == "LAND": landerRB.append([obj[3], obj[2]]) # If empty make None if len(samplesRB) < 1: samplesRB = None if len(rocksRB) < 1: rocksRB = None if len(obstaclesRB) < 1: obstaclesRB = None if len(landerRB) < 1: landerRB = None return samplesRB, landerRB, obstaclesRB, rocksRB motorControl.sendCommand("clear") try: # Create VREP RoverBot object - this will attempt to open a connection to VREP. Make sure the VREP simulator is running. # lunarBotSim = VREP_RoverRobot('127.0.0.1', robotParameters, sceneParameters) # lunarBotSim.StartSimulator() # memory stuff # time.sleep(2) rover = Rover() observation = current_observation() rover.current_movement = "stop" rover.updateCurrentPos() # time.sleep(2) while (True): # Get Detected Objects
def updateCurrentPos(self): motorControl.sendCommand(self.current_movement) self.x, self.y, self.bearing = motorControl.updatePosition(self)
self.ref_x = 0 self.ref_y = 0 self.bearing = 0 self.ref_bearing = 0 self.current_movement = None self.last_movement = None def move(self, movement, magnitude=None): ## Convert magnitude to duty motorControl.move(movement, magnitude) self.current_movement = movement rover = Rover() motorControl.sendCommand("clear") # start = time.time() try: while True: rover.move("right", "normal") # if run_time < 2: # rover.move("forward", 250) # elif 2 < run_time < 5: # rover.move("left", 250) # elif 5 < run_time < 7: # rover.move("forward", 300) motorControl.sendCommand(rover.current_movement) rover.x, rover.y, rover.bearing = motorControl.updatePosition(rover) # time.sleep(.5)