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robot.py
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robot.py
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from math import *
from lines import *
import draw
#Globals
INPUT_1 = (1,1,0)
INPUT_2 = (0,0,0)
INPUT_3 = (0,0,pi/2)
INPUT_4 = (-1,1,0)
OUTPUT_A = (-1,0)
OUTPUT_B = None
OUTPUT_C = None
OUTPUT_D = (1,0)
#Motors
class LargeMotor():
def __init__(self, pos):
self.offx, self.offy = pos
self.speed = 0
self.run_time = 0
self.state = False
self.radius = 5
self.position = 0
robot.addMotor(self)
def getX(self):
return self.getPos()[0]
def getY(self):
return self.getPos()[1]
def getPos(self):
cx = robot.x + self.offx * robot.size
cy = robot.y + self.offy * robot.size
x = cos(-robot.angle) * (cx - robot.x) - sin(-robot.angle) * (cy - robot.y) + robot.x
y = sin(-robot.angle) * (cx - robot.x) + cos(-robot.angle) * (cy - robot.y) + robot.y
return x, y
def getRelativePos(self):
return sub(robot.pos, self.pos)
def getSpeed(self, duty_cycle):
duty_cycle = max(-100, min(100, duty_cycle))
self.speed = 10 * duty_cycle
return self.speed
def run_timed(self, speed_sp = 0, time_sp = 0, duty_cycle_sp = 0):
self.speed = speed_sp
self.run_time = time_sp
if duty_cycle_sp:
self.speed = self.getSpeed(duty_cycle_sp)
self.state = "timed"
def run_direct(self, speed_sp = 0, duty_cycle_sp = 0):
self.speed = speed_sp
if duty_cycle_sp:
self.speed = self.getSpeed(duty_cycle_sp)
self.state = "running"
def stop(self, stop_command = "brake"):
self.run_time = 0
self.speed = 0
self.state = False
def run(self, time):
if self.state == "timed":
self.run_time -= time
if self.run_time <= 0:
self.state = False
self.speed = 0
duty_cycle_sp = property(None, getSpeed)
x = property(getX, None)
y = property(getY, None)
pos = property(getPos, None)
#Sensors
class Sensor():
def __init__(self, pos=(0,0,0)):
robot.addSensor(self)
def getX(self):
return self.getPos()[0]
def getY(self):
return self.getPos()[1]
def getPos(self):
cx = robot.x + self.offx * robot.size
cy = robot.y + self.offy * robot.size
x = cos(-robot.angle) * (cx - robot.x) - sin(-robot.angle) * (cy - robot.y) + robot.x
y = sin(-robot.angle) * (cx - robot.x) + cos(-robot.angle) * (cy - robot.y) + robot.y
return x, y
def value(self):
return None
def draw(self):
pass
x = property(getX, None)
y = property(getY, None)
pos = property(getPos, None)
class LineSensor(Sensor):
def __init__(self, pos=(0,0,0)):
self.offx, self.offy, self.angle = pos
self.length = 160
robot.addSensor(self)
def getLine(self):
x,y = self.pos
return (x, y), (sin(robot.angle + self.angle) * self.length + x, cos(robot.angle + self.angle) * self.length + y)
def draw(self):
poi = self.poi()
if poi: draw.line(self.pos, self.poi(), "red")
def poi(self):
line = self.getLine()
points = []
for l in robot.walls:
if distance(line[0], l[0]) < self.length + distance(*l):
poi = intersection(line, l)
if poi:
points.append(poi)
#if not points:
# print('problem')
return sorted(points, key = lambda x: distance(self.pos, x))[0] if points else False
class TouchSensor(LineSensor):
def __init__(self, pos=(0,0,0)):
super().__init__(pos)
self.length = 10
def draw(self):
draw.line(*self.getLine())
def value(self):
poi = self.poi()
if poi: return True
else: return False
class UltrasonicSensor(LineSensor):
def __init__(self, pos=(0,0,pi/2)):
super().__init__(pos)
def draw(self):
poi = self.poi()
if poi:
draw.line(self.pos, poi, "red")
else:
draw.line(*self.getLine())
def value(self):
poi = self.poi()
if poi:
return distance(self.pos, poi)
else:
return self.length
class GyroSensor(Sensor):
def __init__(self, pos=(0,0,0)):
super().__init__(pos)
self.prevAng = 0
def value(self):
a = robot.angle - self.prevAng
self.prevAng = robot.angle
return a
class Button():
def any(self):
return False
#Dummies
class Sound():
def tone(self, *args):
pass
Sound = Sound()
class Leds():
def __init__(self):
self.RED = self.GREEN = self.RIGHT = self.LEFT = None
def set_color(self, *args):
pass
Leds = Leds()
#Robot
class Robot():
def __init__(self, x, y, walls):
self.x = x
self.y = y
self.walls = walls
self.sensors = []
self.motors = {"left": None, "right": None}
self.angle = 0
self.size = 8
def draw(self):
draw.circle((self.x, self.y), self.size)
for sensor in self.sensors:
sensor.draw()
def move(self, d):
self.x += sin(self.angle) * d
self.y += cos(self.angle) * d
def turn(self, a):
self.angle += a
def update(self):
if self.motors["left"] and self.motors["right"]:
left = self.motors["left"]
right = self.motors["right"]
if left.speed != right.speed:
radius = (left.speed + right.speed)/(right.speed - left.speed)
vector_to_wheel = sub(left.pos, self.pos)
vector_to_center = mul(unit_vector(vector_to_wheel), radius*self.size)
cx, cy = add(vector_to_center, self.pos)
radius = max(1, radius)
theta = (-1 if left.speed > right.speed else 1)*(abs(left.speed) + abs(right.speed))/(2 * pi * radius * 2000)
self.turn(theta)
self.x = cos(theta) * (robot.x - cx) - sin(theta) * (robot.y - cy) + cx
self.y = sin(theta) * (robot.x - cx) + cos(theta) * (robot.y - cy) + cy
else:
self.move(left.speed/250)
left.run(100)
right.run(100)
def addMotor(self, motor):
if self.motors["left"]: self.motors["right"] = motor
else: self.motors["left"] = motor
def addSensor(self, sensor):
self.sensors.append(sensor)
def getPos(self):
return (self.x, self.y)
pos = property(getPos, None)
def setup(x, y, walls):
global robot
robot = Robot(x, y, walls)
return robot
# def turn(self, left, right, radius):`
# mid = midpoint(left.pos, right.pos)
# vector = mul(unit_vector(sub(right.pos, mid)), radius)
# point = add(mid, vector)
#
# x = cos(pi/12) * (mid[0] - point[0]) - sin(pi/12) * (mid[1] - point[1]) + robot.x
# y = sin(pi/12) * (mid[0] - point[0]) + cos(pi/12) * (mid[1] - point[1]) + robot.y
#
# robot.angle += pi/12
#
# self.x = x + (mid[0] - robot.x)
# self.y = y + (mid[1] - robot.y)
#
#
# def update(self):
# if self.motors:
# left = self.motors[0]
# right = self.motors[1]
#
# leftpos = sqrt(left.offx ** 2 + left.offy ** 2)
# rightpos = sqrt(right.offx ** 2 + right.offy ** 2)
#
# speed = right.speed + left.speed
# print(leftpos, rightpos, speed)
#
# if speed:
# radius = (-leftpos * left.speed + rightpos * right.speed) / (speed)
# if radius == 0:
# robot.move(speed/300)
# else:
# robot.turn(left, right, radius)
# else:
# robot.turn(left, right, 0)
#
# left.run(100)
# right.run(100)
# def update(self):
# rotation = 0
# movement = 0
# for motor in self.motors:
# print(motor.state)
# if motor.state:
# print(motor.speed)
# rotation += distance((self.x, self.y), motor.pos) * sin(atan2(motor.y - self.y, motor.x - self.x) + self.angle + pi/2) * motor.speed/100000
# movement += motor.speed/500
# motor.run(100)
#
# self.angle += rotation
# if rotation > 0.1:
# self.move(movement/rotation)
# else:
# self.move(movement)
# def avg_point_force(*forces):
# magnitudes = 0
# avgpos = (0,0)
# avgforce = (0,0)
# for force in forces:
# avgpos = add(avgpos, mul(force["pos"], force["magnitude"]))
# avgforce = add(avgforce, force["direction"])
# magnitudes += force["magnitude"]
#
# if magnitudes: pos = mul(avgpos, 1/(magnitudes * len(forces)))
# else: pos = (0,0)
# direction = mul(avgforce, 1/len(forces))
# magnitude = sqrt(direction[0]**2 + direction[1]**2)
# return {"pos": pos, "direction": direction, "magnitude": magnitude}
# def update(self):
# # calculate vector of average force
# forces = []
# for motor in self.motors:
# forces.append(motor.getPointForce())
# motor.run(100)
# print(forces)
# if forces:
# final_force = avg_point_force(*forces)
# print(final_force)
# ratio = 250
# # apply vector force
# self.x += final_force["magnitude"] * cos(atan2(*final_force["direction"][::-1]))/ratio
# self.y += final_force["magnitude"] * sin(atan2(*final_force["direction"][::-1]))/ratio
#
# torque = distance((0,0), final_force["pos"]) * final_force["magnitude"]/ratio
# print(torque)
# self.turn(torque)