def init(self, room_num=0, team_color='yellow', our_color='pink', computer_goal=False):
print("init: Room: %s, team color: %s, our single spot color: %s, computer goal: %s" %
(room_num, team_color, our_color, computer_goal))
self.world = World(int(room_num), team_color, our_color, computer_goal)
self.strategy = SimpleStrategy(self.world, self)
self.game = Game(self.world, self)
self.highstrategy = StrategyTools(self.world, self, self.game, self.strategy)
class Commands:
def __init__(self):
self.protocol = None
self.vision_process = None
self.world = None
self.strategy = None
self.highstrategy = None
self.game = None
print("! Remember to call:")
print("! init <room: 0/1> <team_color: blue/yellow> <our_single_spot_color: green/pink>")
print("! vision")
print("! connect <device_no>")
self.init()
self.vision()
#self.connect()
#self.highstrategy.main()
def hs(self):
self.highstrategy.main()
def init(self, room_num=0, team_color='yellow', our_color='pink', computer_goal=False):
print("init: Room: %s, team color: %s, our single spot color: %s, computer goal: %s" %
(room_num, team_color, our_color, computer_goal))
self.world = World(int(room_num), team_color, our_color, computer_goal)
self.strategy = SimpleStrategy(self.world, self)
self.game = Game(self.world, self)
self.highstrategy = StrategyTools(self.world, self, self.game, self.strategy)
def connect(self, device_no='0'):
print("connect: Connecting to RF stick")
self.protocol = RobotProtocol('/dev/ttyACM' + device_no)
def vision(self):
if not self.vision_process:
print("vision: Starting vision")
self.vision_process = multiprocessing.Process(target=Vision, args=(self.world,))
self.vision_process.start()
def map(self, state, num):
self.game.mid(state, True, num)
def test(self, state):
while True:
self.game.mid(state, False)
def move(self, direction, angle): # direction is between our orientation and where we want to go
dir = int(direction)
ang = int(angle)
if dir < 0:
d = 45 - dir
else:
d = -(dir - 45)
a = -math.radians(ang)
dir = math.radians(d)
idea = np.array([np.cos(dir), np.sin(dir), a])
rad = 0.1
m = np.array([[1, 0, rad],
[0, -1, rad],
[-1, 0, rad],
[0, 1, rad]])
movement = np.dot(m, idea)
sizes = np.fabs(movement)
factor = np.amax(sizes)
movement = np.multiply(100.0/factor, movement)
movement = movement.round()
s = np.sign(movement)
movement = s*((40*abs(movement))/100 + 60)
self.protocol.move_forever([(0, int(movement[0])), (1, int(movement[1])), (2, int(movement[2])), (3, int(movement[3])), ])
#self.protocol.move(20, [(0, movement[0]), (1, movement[1]), (2, movement[2]), (3, movement[3]), ], wait=True)
def penalty_attack(self, clockno):
self.highstrategy.penalty_attack(clockno)
def penalty_defend(self):
self.highstrategy.penalty_defend()
def runstrategy(self):
self.highstrategy.main()
def attackwithball(self):
self.highstrategy.attackwithball()
def ballwithenemy(self, no):
self.highstrategy.ballwithenemy(int(no))
def ballindefensearea(self):
a= self.highstrategy.ballindefensearea()
print(a)
def ballwithfriend(self):
self.highstrategy.ballwithfriend()
def f(self, x):
"""Move forward, negative x means backward"""
x = int(x)
s = sign(x)
x = abs(x)
# Calibrated for the holonomic robot on 27 March, only forward
x = 5.3169850194 * x - 14.9575723714
x = int(x)
if x > 0:
self.protocol.move(x, [(0, 100 * s), (1, -100 * s), (2, -100 * s), (3, 100 * s)], wait=True)
def c(self, x):
"""Rotate clockwise, negative x means counter-clockwise"""
x = int(x)
s = sign(x)
x = abs(x)
# Calibrated for the holonomic robot on 30 March
if s > 0:
if x > 90:
x = 0.8 * x - 37.0
else:
x = 0.0015306535 * (x ** 2) + 0.3025825153 * x
else:
if x > 90:
x = 0.823333333 * x - 33.5
else:
x = 0.001206074 * (x ** 2) + 0.3634378289 * x
x = int(x)
if x > 0:
self.protocol.move(x, [(0, -80 * s), (1, -80 * s), (2, -80 * s), (3, -80 * s)], wait=True)
def s(self):
self.protocol.stop()
def k(self):
# self.protocol.move(500, [(4, -100)], time=True)
self.protocol.move_forever([(0, -100), (1, 100), (2, 100), (3, -100), ])
time.sleep(0.5)
self.protocol.move_forever([(0, 100), (1, -100), (2, -100), (3, 100), ])
time.sleep(1)
self.protocol.stop()
def o(self):
self.protocol.move(400, [(4, -100)], time=True, wait=True)
def g(self):
self.protocol.move(400, [(4, 80)], time=True, wait=True)
def ss(self, x):
x = int(x)
s = sign(x)
x = abs(x)
if x < 90:
return
if x > 90:
if s > 0:
x = 0.0008417761 * (x ** 2) + 0.3865014241 * x - 41.5767918089
else:
x = 0.0013813605 * (x ** 2) + 0.1536110506 * x - 25.1058020478
x = int(x)
self.protocol.schedule(x, 0, [(0, -100 * s), (1, -100 * s), (2, -100 * s), (3, -100 * s)])
self.protocol.schedule(200, 0, [(0, -100 * s), (1, -100 * s), (2, -100 * s), (3, -100 * s)], grab=-400)
#self.protocol.move(400, [(4, -100)], time=True)
def flush(self):
self.protocol.flush()
def ee(self, x):
x = int(x)
s = sign(x)
self.protocol.move(400, [(4, -100)], time=True)
self.protocol.move(200, [(0, -100 * s), (1, -100 * s), (2, -100 * s), (3, -100 * s)], wait=True)
def w(self):
print self.world
def query_ball(self):
if self.world.room_num == 0:
threshold = 180
else:
threshold = 192
a = self.protocol.query_ball(threshold)
print("We have the ball: %s" % a)
return a
def pass_ball(self):
self.strategy.pass_ball()
def catch_ball(self):
self.strategy.catch_ball()
def goal(self):
self.strategy.goal()
def who(self):
print "Who has the ball?"
if self.world.venus.hasBallInRange[0]:
print "0: venus"
if self.world.friend.hasBallInRange[0]:
print "1: friend"
if self.world.enemy1.hasBallInRange[0]:
print "2: enemy1"
if self.world.enemy2.hasBallInRange[0]:
print "3: enemy2"
def rr(self):
self.protocol.move_forever([(0, 70), (1, -100), (2, -70), (3, 100), ])
def stopped(self):
self.protocol.block_until_stop()
print("Now it has stopped")
def v(self):
while True:
#print "---"
#print self.world.ball_velocity[0], self.world.ball_velocity[1]
print math.sqrt(self.world.ball_velocity[0]**2 + self.world.ball_velocity[1]**2)/6.0
def j(self):
angle, motion_length = self.strategy.calculate_angle_length_ball()
print angle, motion_length
self.c(angle)
def b(self):
last = self.world.ball_moving[0]
i = 0
while True:
this = self.world.ball_moving[0]
if last == 0 and this == 1:
print "\a%d Started moving" % i
i += 1
elif last == 1 and this == 0:
print "\a%d Stopped moving" % i
i += 1
last = this
def gg(self):
while True:
self.game.mid("FREE_BALL_YOURS", False)