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car_commands.py
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car_commands.py
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import numpy as np
def turn(angle):
angles = [90,80,70,60,50,45,0]
left = ['q','a','y','w','s','x','g']
right = ['p','k','-','o','l','.','g']
if angle > 0:
return left[angles.index(angle)]
return right[angles.index(-angle)]
def add(x, y):
return [x[0] + y[0], x[1] + y[1]]
def sub(x,y):
return [x[0] - y[0], x[1] - y[1]]
def dir(car,goal,dist):
# print(car, goal)
angle = (car-goal+360) % 360
if angle > 350 or angle <= 10:
return 'g'
#turn right
if (angle > 10 and angle <= 30):
return turn(45)
if (angle > 30 and angle <= 50):
return turn(60)
if (angle > 50 and angle <= 70):
return turn(70)
if (angle > 70 and angle <= 90):
return turn(80)
if (angle > 90 and angle <= 180):
return turn(90)
#turn left
if (angle > 330 and angle <= 350):
return turn(-45)
if (angle > 310 and angle <= 330):
return turn(-60)
if (angle > 290 and angle <= 310):
return turn(-70)
if (angle > 270 and angle <= 290):
return turn(-80)
if (angle > 180 and angle <= 270):
return turn(-90)
return 'g'
def angle(x,y):
if x == 0:
if y > 0:
return 90
else:
return 270
angle = np.arctan(y/x) * 180 / np.pi
if x > 0 and y > 0:
return angle
if x > 0 and y < 0:
return 360 + angle
if x < 0 and y < 0:
return angle + 180
if x < 0 and y > 0:
return angle + 180
def foreach(ls, fn):
for i in range(len(ls)):
ls[i] = fn(ls[i])