def possibilityForwardLeft():
fenetre.blit(fond, (0, 0))
fenetre.blit(perso, (190, 260))
arrow_dbl = pygame.transform.rotate(arrow, 140)
arrow_dbl = pygame.transform.scale(arrow_dbl, (150, 300))
arrow_dbl.set_colorkey((255, 255, 255))
fenetre.blit(arrow_dbl, (70, 70))
pygame.display.flip()
global event
X = 1.0
Y = 0.0
Theta = 0.5
Frequency = 0.8
motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency) # do some work
time.sleep(tseq)
if event == "RotateLeftA":
sonarProxy.subscribe("SonarApp")
time.sleep(0.25)
valL = memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")
print("a gauche, mon sonar detecte", valL)
valR = memoryProxy.getData(
"Device/SubDeviceList/US/Right/Sensor/Value")
print("a droite, mon sonar detecte", valR)
sonarProxy.unsubscribe("SonarApp")
if valR > P or valR <= TP:
event = "StopRotate"
if valL < valR:
event = "RotateRightA"
cm.ReadytoRD()
for even in pygame.event.get():
if even.type == pygame.KEYDOWN:
event = "Stay"
else:
event = "Stay" # define the default event
for even in pygame.event.get():
if even.type == pygame.QUIT:
sys.exit()
if even.type == pygame.KEYDOWN:
if even.key == pygame.K_s:
event = "Stop"
elif even.key == pygame.K_UP:
event = "StopRotate"
elif even.key == pygame.K_LEFT:
event = "StopMove"
elif even.key == pygame.K_DOWN:
event = "StopMove"
elif even.key == pygame.K_RIGHT:
event = "StopRotate"
if even.type == pygame.JOYBUTTONDOWN:
if joy.get_button(7) == 1:
event = "Stop"
elif even.type == pygame.JOYAXISMOTION:
if joy.get_axis(1) > 0:
event = "StopMove"
elif joy.get_axis(0) > 0:
event = "StopRotate"
return event # return event to be able to define the transition
def possibilityBackwardRight():
fenetre.blit(fond, (0, 0))
fenetre.blit(perso, (190, 260))
arrow_dbl = pygame.transform.rotate(arrow, -40)
arrow_dbl = pygame.transform.scale(arrow_dbl, (150, 300))
arrow_dbl.set_colorkey((255, 255, 255))
fenetre.blit(arrow_dbl, (250, 370))
pygame.display.flip()
global event
X = -1.0
Y = 0.0
Theta = -0.5
Frequency = 0.8
motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency) # do some work
time.sleep(tseq)
event = "Stay" # define the default event
for even in pygame.event.get():
if even.type == pygame.QUIT:
sys.exit()
if even.type == pygame.KEYDOWN:
if even.key == pygame.K_s:
event = "Stop"
elif even.key == pygame.K_DOWN:
event = "StopRotate"
cm.AlltoBK()
elif even.key == pygame.K_RIGHT:
event = "StopMove"
cm.ReadytoRD()
elif even.key == pygame.K_LEFT:
event = "StopRotate"
cm.AlltoBK()
elif even.key == pygame.K_UP:
event = "StopMove"
if even.type == pygame.JOYBUTTONDOWN:
if joy.get_button(7) == 1:
event = "Stop"
elif even.type == pygame.JOYAXISMOTION:
if joy.get_axis(1) < 0:
event = "StopMove"
elif joy.get_axis(0) < 0:
event = "StopRotate"
return event # return event to be able to define the transition
def possibilityForward():
global event
X = 1.0
Y = 0.0
Theta = 0.0
Frequency = 0.8
motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency) # do some work
time.sleep(tseq)
fenetre.blit(fond, (0, 0))
fenetre.blit(perso, (190, 260))
arrow_up = pygame.transform.rotate(arrow, 90)
fenetre.blit(arrow_up, (110, 0))
pygame.display.flip()
event = "Stay" # define the default event
# Modification des méthodes d'esquives automatiques;
sonarProxy.subscribe("SonarApp")
time.sleep(0.25)
valL = memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")
print("a gauche, mon sonar detecte", valL)
valR = memoryProxy.getData("Device/SubDeviceList/US/Right/Sensor/Value")
print("a droite, mon sonar detecte", valR)
sonarProxy.unsubscribe("SonarApp")
if valL <= TP and valR <= TP:
print("Objets tres proches droit devant")
event = "StopMoveA"
#MOD
elif valL <= TP:
print("objet tres proche a ma gauche")
event = "StopMoveAR"
elif valR <= TP:
print("objet tres proche a ma droite")
event = "StopMoveAL"
elif valL <= P:
print("objet proche a ma gauche")
event = "RotateRightA"
cm.ReadytoRD()
elif valR <= P:
print("objet proche a ma droite")
event = "RotateLeftA"
cm.ReadytoRG()
for even in pygame.event.get():
if even.type == pygame.QUIT:
sys.exit()
if even.type == pygame.KEYDOWN:
if even.key == pygame.K_s:
event = "StopMove"
elif even.key == pygame.K_DOWN:
event = "StopMove"
elif even.key == pygame.K_LEFT:
event = "RotateLeft"
cm.ReadytoRG()
elif even.key == pygame.K_RIGHT:
event = "RotateRight"
cm.ReadytoRD()
if even.type == pygame.JOYAXISMOTION:
if joy.get_axis(1) > 0:
event = "StopMove"
elif joy.get_axis(0) < 0:
event = "RotateLeft"
elif joy.get_axis(0) > 0:
event = "RotateRight"
elif even.type == pygame.JOYBUTTONDOWN:
if joy.get_button(7) == 1:
event = "StopMove"
return event # return event to be able to define the transition
def possibilityStart():
fenetre.blit(fond, (0, 0))
fenetre.blit(perso, (190, 260))
pygame.display.flip()
global is_sleeping
global event
is_sleeping = False
motionProxy.setStiffnesses("Body", 1.0)
X = 0.0
Y = 0.0
Theta = 0.0
Frequency = 0.8
motionProxy.setWalkTargetVelocity(X, Y, Theta,
Frequency) # do some work # do some work
postureProxy.goToPosture("StandInit", fractSpeed)
time.sleep(tseq)
#procédure évitement
if event == "StopMoveA":
event = "MoveBackwardA"
cm.AlltoBK()
elif event == "StopMoveAR":
#Rajouter compteur au bsn
event = "RotateRightA"
cm.ReadytoRD()
elif event == "StopMoveAL":
event = "RotateLeftA"
cm.ReadytoRG()
elif event == "StopRotateA" or event == "StopMoveAF":
event = "MoveForward"
cm.ReadytoAvance()
else:
event = "Stay"
for even in pygame.event.get():
if even.type == pygame.QUIT:
sys.exit()
if even.type == pygame.KEYDOWN:
if even.key == pygame.K_UP:
event = "MoveForward"
cm.ReadytoAvance()
elif even.key == pygame.K_DOWN:
event = "MoveBackward"
cm.AlltoBK()
elif even.key == pygame.K_LEFT:
event = "RotateLeft"
cm.ReadytoRG()
elif even.key == pygame.K_RIGHT:
event = "RotateRight"
cm.ReadytoRD()
elif even.key == pygame.K_p:
event = "Pause"
cm.ReadytoIDLE()
elif even.key == pygame.K_k:
event = "Kill"
elif even.key == pygame.K_SPACE:
event = "Shoot"
cm.ReadytoShoot()
elif even.key == pygame.K_d:
event = "Dab"
if even.type == pygame.JOYAXISMOTION:
if joy.get_axis(1) < 0:
event = "MoveForward"
elif joy.get_axis(1) > 0:
event = "MoveBackward"
elif joy.get_axis(0) < 0:
event = "RotateLeft"
elif joy.get_axis(0) > 0:
event = "RotateRight"
if even.type == pygame.JOYBUTTONDOWN:
if joy.get_button(2) == 1:
event = "Pause"
elif joy.get_button(6) == 1:
event = "Kill"
elif joy.get_button(0) == 1:
event = "Shoot"
elif joy.get_button(9) == 1:
event = "Dab"
return event