def execute(self, previousBehavior):
ai = self.behaviorManager.lastArduinoInput
vi = self.behaviorManager.lastVisionInput
bs = self.behaviorManager.behaviorStack
bm = self.behaviorManager.ballManager
output = PilotCommands(ai)
if utilities.crashed(ai):
bs.append(self)
bs.append(Uncrash(self.behaviorManager))
return None
elif ai.leftDist < self.minDist and ai.leftDist <= ai.rightDist:
output.forwardSpeed = -self.forwardSpeed
output.turnSpeed = self.turnSpeed
self.logger.debug("Avoiding wall on the left")
bs.append(self) # TODO implement a timeout
elif ai.rightDist < self.minDist:
output.forwardSpeed = -self.forwardSpeed
output.turnSpeed = -self.turnSpeed
self.logger.debug("Avoiding wall on the right")
bs.append(self) # TODO implement a timeout
output.rollerCommand = RollerCommands.FORWARD
output.winchCommand = WinchCommands.DOWN
output.rampCommand = RampCommands.UP
return output
def execute(self, previousBehavior):
ai = self.behaviorManager.lastArduinoInput
vi = self.behaviorManager.lastVisionInput
bs = self.behaviorManager.behaviorStack
bm = self.behaviorManager.ballManager
output = PilotCommands(ai)
if (previousBehavior != self):
self.init(ai)
if utilities.crashed(ai):
bs.append(self)
if self.crashedFront and self.crashedBack:
self.logger.warn("Crashed front and back. This really sucks.")
output.turnSpeed = 127
elif self.crashedFront:
output.forwardSpeed = -self.forwardSpeed
output.turnSpeed = self.turnSpeed * ((1 if self.crashedLeft else 0) - (1 if self.crashedRight else 0))
else: # crashed back
output.forwardSpeed = self.forwardSpeed
output.turnSpeed = self.turnSpeed * ((1 if self.crashedLeft else 0) - (1 if self.crashedRight else 0))
else:
output = None
output.rollerCommand = RollerCommands.FORWARD
output.winchCommand = WinchCommands.DOWN
output.rampCommand = RampCommands.UP
return output
def execute(self, previousBehavior): ai = self.behaviorManager.lastArduinoInput vi = self.behaviorManager.lastVisionInput bs = self.behaviorManager.behaviorStack bm = self.behaviorManager.ballManager if utilities.crashed(ai): bs.append(Uncrash(self.behaviorManager)) elif self.avoidWalls and utilities.nearWall(ai): bs.append(AvoidWall(self.behaviorManager)) output = PilotCommands(ai) output.forwardSpeed = self.forwardSpeed output.rollerCommand = RollerCommands.FORWARD output.winchCommand = WinchCommands.DOWN output.rampCommand = RampCommands.UP return output
