def __init__(self):
State.__init__(self)
#if random.uniform(0, 1)>0.5:
if True:
self.wall_follow = WallFollowController(robot.ard, self.drive)
else:
self.wall_follow = None
class ExploreState(State):
"""Go somewhere else so it can see some balls"""
def __init__(self):
State.__init__(self)
#if random.uniform(0, 1)>0.5:
if True:
self.wall_follow=WallFollowController(robot.ard, self.drive)
else:
self.wall_follow=None
def step(self):
if self.map.get_visible_ball():
return ApproachState()
if time.time()-self.start_time>params.state_explore_timeout:
return ScanState()
if self.wall_follow is not None:
self.wall_follow.follow_wall()
else:
wall=self.map.get_farthest_wall()
if wall is not None:
self.drive.drive_to_point(wall)
else:
self.drive.forward()
return stuck_detect.detect() or self
def __init__(self):
State.__init__(self)
#if random.uniform(0, 1)>0.5:
if True:
self.wall_follow=WallFollowController(robot.ard, self.drive)
else:
self.wall_follow=None
class ExploreState(State):
"""Go somewhere else so it can see some balls"""
def __init__(self):
State.__init__(self)
#if random.uniform(0, 1)>0.5:
if True:
self.wall_follow = WallFollowController(robot.ard, self.drive)
else:
self.wall_follow = None
def step(self):
if self.map.get_visible_ball():
return ApproachState()
if time.time() - self.start_time > params.state_explore_timeout:
return ScanState()
if self.wall_follow is not None:
self.wall_follow.follow_wall()
else:
wall = self.map.get_farthest_wall()
if wall is not None:
self.drive.drive_to_point(wall)
else:
self.drive.forward()
return stuck_detect.detect() or self
