47 lines
1.7 KiB
Python
47 lines
1.7 KiB
Python
import sys
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from os import path
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sys.path.append(path.abspath(path.join(path.dirname(__file__), '..')))
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import time
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from LocalParticipant import LocalParticipant
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from Thing import *
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from Things.DifferentialDrive import DifferentialDrive
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from Things.TouchSensor import TouchSensor
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# Create a local participant for handling communcation
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# using default settings (UDP communciation over port 7681)
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participant = LocalParticipant(port=7681, local_port=7682, ip_address="127.0.0.1")
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# The robot's propulsion is a differential drive
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bb2b = DifferentialDrive(participant)
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bb2b.name = "BB2B"
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bb2b.SetDriveDimensions(0.064, 0.128)
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bb2b.SetPosition(Spherical(0.15, Direction.up))
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model = Thing(parent=bb2b)
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model.model_url = "https://passer.life/extras/Roller1anim1.png"
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model.SetOrientation(SwingTwist.Degrees(90, 0, 0))
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# It has a touch sensor at the front left of the roboid
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touch_left = TouchSensor(parent=bb2b)
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touch_left.name = "Touch left"
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# and other one on the right
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touch_right = TouchSensor(parent=bb2b)
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touch_right.name = "Touch right"
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# Do forever:
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while True:
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# The left wheel turns forward when nothing is touched on the right side
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# and turn backward when the roboid hits something on the right
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wheel_speed_left = -600 if touch_right.touched_somthing else 600
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# The right wheel does the same, but instead is controlled by
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# touches on the left side
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wheel_speed_right = -600 if touch_left.touched_somthing else 600
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# When both sides are touching something, both wheels will turn backward
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# and the roboid will move backwards
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bb2b.SetWheelVelocity(wheel_speed_left, wheel_speed_right)
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# Update the roboid state
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participant.Update()
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# and sleep for 100ms
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time.sleep(1.0)
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