robot module¶
This module contains a class representing the robot.
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class
robot.IDPRobot¶ Bases:
controller.RobotClass representing the robot
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compass¶ The compass
- Type
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motors¶ The two motors
- Type
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default_target_bearing_threshold¶ Threshold determining whether the target bearing is reached
- Type
float
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default_target_distance_threshold¶ Threshold determining whether the target coordinate is reached
- Type
float
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timestep¶ Time step of the current world
- Type
float
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ultrasonic_left¶ The ultrasonic sensor on the left
- Type
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ultrasonic_right¶ The ultrasonic sensor on the right
- Type
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infrared¶ The IR sensor (long range)
- Type
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color_detector¶ The colour detector, containing two light sensors with red and green filters
- Type
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angle_from_bot_from_bearing(bearing: float) → float¶ The clockwise angle from the direction our bot is facing to the bearing in radians
- Parameters
bearing (float) – Bearing from north
- Returns
Angle measured clockwise from direction bot is facing, [-pi, pi]
- Return type
float
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angle_from_bot_from_position(position: list) → float¶ The clockwise angle from the direction our bot is facing to the position in radians
- Parameters
position ([float, float]) – Positions co-ordinates, East-North, m
- Returns
Angle measured clockwise from direction bot is facing, [-pi, pi]
- Return type
float
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property
angular_velocity¶ The current angular velocity of the robot measured by bearings
- Returns
Angular velocity, rad/s
- Return type
float
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property
bearing¶ The current bearing of the robot in radians
- Returns
Bearing measured clockwise from North, [0, 2pi]
- Return type
float
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brake()¶
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check_target_valid(target: Optional[modules.targeting.Target]) → bool¶
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collect_block() → bool¶ Collect block at the best position possible
- Returns
If the collect action is completed
- Return type
bool
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coordtransform_bot_cartesian_to_world(vec: numpy.ndarray) → numpy.ndarray¶ Transform a position vector of a point in the robot frame (relative to the robot center) to the absolute position vector of that point in the world frame
- Parameters
vec (np.ndarray) – A vector relative to the centre of the robot
- Returns
The absolute position vector of the point in the world frame
- Return type
np.ndarray
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coordtransform_bot_polar_to_world(distance: float, angle: float) → numpy.ndarray¶ Given a distance and angle from our bot, return the objects position
- Parameters
distance (float) – Distance to object in m
angle (float) – Angle from bot to object in rads
- Returns
Positions co-ordinates, East-North, m
- Return type
[float, float]
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distance_from_bot(position) → float¶ The Euclidean distance between the bot and a position
- Parameters
position ([float, float]) – Positions co-ordinates, East-North, m
- Returns
Distance between bot and target in metres
- Return type
float
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do(*args)¶ Small wrapper to make telling robot to do something a little cleaner
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drive_to_position(target_pos: Union[list, numpy.ndarray], max_forward_speed=None, max_rotation_rate=None, reverse=False, passive_collision_avoidance=True, accuracy_threshold=None) → bool¶ Go to a position
- Parameters
target_pos ([float, float]) – The East-North co-ords of the target position
max_forward_speed (float) – Maximum speed to travel at m/s
max_rotation_rate (float) – Maximum rate to rotate at, rad/s
reverse (bool) – Whether to reverse there
passive_collision_avoidance (bool) – Whether to try and avoid the other bot and known blocks
accuracy_threshold (float) – Threshold determining whether the target coordinate is reached
- Returns
If we are at our target
- Return type
bool
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execute_next_action() → bool¶ Execute the next action in self.action_queue
When each action is completed it’s removed from the list. Using list mutability this allows us to alter / check the action list elsewhere in the code to see the bots progress and also change its objectives. If people have better ideas on how to do this I’m all ears. Execute_action was only ever supposed to be about motion
- Returns
Whether action list is completed or not
- Return type
bool
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face_bearing(target_bearing: float) → bool¶ Face a given bearing
- Parameters
target_bearing (float) – Desired bearing of our robot
- Returns
If we are at our target
- Return type
bool
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filter_targets(targets: list) → list¶ Filter a given list of targets, returns targets the robot can drive to without hitting other targets or the other robot on the way.
- Parameters
targets ([Target]) – List of targets
- Returns
Filtered list of targets
- Return type
[Target]
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getDevice(name: str)¶
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getTime()¶ This function is used by PIDs to see what the current robot time is for accurate data recording
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get_best_target() → Optional[modules.targeting.Target]¶ Decide on a new target block for robot, which is the cloest valid target on the way to which there won’t involve any collision
- Returns
Targets co-ordinates, East-North, m
- Return type
[float, float]
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get_bot_front(distance: float) → numpy.ndarray¶ Get the coordinates of a point a certain distance in front of the center of the robot
- Parameters
distance (float) – Distance in front of the center
- Returns
The coordinate
- Return type
np.ndarray
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get_bot_vertices() → list¶ Get the coordinates of vertices of the bot in world frame (i.e. in meters)
The robot is assumed to be a rectangle.
- Returns
List of coordinates
- Return type
[np.ndarray]
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get_imminent_collision() → Optional[tuple]¶
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get_min_distance_bot_to_bot(other_bot_vertices: list) → float¶ Get the minimum distances between two robots
- Parameters
other_bot_vertices ([np.ndarray]) – List of vertices of the other robot, needs to be specified in
clockwise order (a) –
- Returns
The minimum distance between the two robots
- Return type
float
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get_min_distance_point_to_bot(position: Union[list, numpy.ndarray]) → float¶ Get the minimum distance between a point and the bounding box of the robot
- Parameters
position (list, np.ndarray) – The coordinate of the point
- Returns
The minimum distance
- Return type
float
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get_min_distance_vertex_to_wall()¶ Get the minimum distance from any of the vertices of the robot to the wall
- Returns
The minimum distance
- Return type
float
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get_sensor_distance_to_wall()¶ Get the distance the sensor should measure if there is nothing between it and the wall
Note that the sensor is assumed to be at the centre of the robot.
- Returns
The distance
- Return type
float
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hold(time=None)¶
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property
linear_speed¶ The current speed of the robot measured by the GPS
- Returns
Current speed (ms^-1)
- Return type
float
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plot_all_graphs()¶
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plot_motion_history()¶
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property
position¶ The current position of the robot
- Returns
Position (East, North) in meters
- Return type
[float, float]
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reset_action_variables()¶ Cleanup method to be called when the current action changes. If executing bot commands manually (i.e. robot.drive_to_position), call this first.
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reverse_to_position(target_pos: Union[list, numpy.ndarray]) → bool¶ Go to a position in reverse
- Parameters
target_pos ([float, float]) – The East-North co-ords of the target position
- Returns
If we are at our target
- Return type
bool
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rotate(angle: float, max_rotation_rate=None, accuracy_threshold=None) → bool¶ Rotate the bot a fixed angle at a fixed rate of rotation
- Parameters
angle (float) – Angle to rotate in radians, positive is clockwise
max_rotation_rate (float) – Maximum rate to rotate at, rad/s
accuracy_threshold (float) – Threshold determining whether the target angle is reached
- Returns
If we completed rotation
- Return type
bool
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scan() → bool¶ Rotate 360 degrees to scan for blocks
- Returns
Whether the scan is completed
- Return type
bool
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step(timestep)¶ A wrapper for the step call that allows us to keep our last bearing and keep track of time. Furthermore, tasks that needs to be ran every timestep are also put here.
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update_motion_history(**kwargs)¶
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