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notebook.html
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<!doctype html>
<html style='font-size:16px !important'>
<head>
<meta charset='UTF-8'><meta name='viewport' content='width=device-width initial-scale=1'>
<title>notebook</title><link href='https://fonts.loli.net/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext' rel='stylesheet' type='text/css' /><style type='text/css'>html {overflow-x: initial !important;}:root { --bg-color:#ffffff; --text-color:#333333; --select-text-bg-color:#B5D6FC; --select-text-font-color:auto; --monospace:"Lucida Console",Consolas,"Courier",monospace; }
html { font-size: 14px; background-color: var(--bg-color); color: var(--text-color); font-family: "Helvetica Neue", Helvetica, Arial, sans-serif; -webkit-font-smoothing: antialiased; }
body { margin: 0px; padding: 0px; height: auto; bottom: 0px; top: 0px; left: 0px; right: 0px; font-size: 1rem; line-height: 1.42857; overflow-x: hidden; background: inherit; tab-size: 4; }
iframe { margin: auto; }
a.url { word-break: break-all; }
a:active, a:hover { outline: 0px; }
.in-text-selection, ::selection { text-shadow: none; background: var(--select-text-bg-color); color: var(--select-text-font-color); }
#write { margin: 0px auto; height: auto; width: inherit; word-break: normal; overflow-wrap: break-word; position: relative; white-space: normal; overflow-x: visible; padding-top: 40px; }
#write.first-line-indent p { text-indent: 2em; }
#write.first-line-indent li p, #write.first-line-indent p * { text-indent: 0px; }
#write.first-line-indent li { margin-left: 2em; }
.for-image #write { padding-left: 8px; padding-right: 8px; }
body.typora-export { padding-left: 30px; padding-right: 30px; }
.typora-export .footnote-line, .typora-export li, .typora-export p { white-space: pre-wrap; }
@media screen and (max-width: 500px) {
body.typora-export { padding-left: 0px; padding-right: 0px; }
#write { padding-left: 20px; padding-right: 20px; }
.CodeMirror-sizer { margin-left: 0px !important; }
.CodeMirror-gutters { display: none !important; }
}
#write li > figure:last-child { margin-bottom: 0.5rem; }
#write ol, #write ul { position: relative; }
img { max-width: 100%; vertical-align: middle; }
button, input, select, textarea { color: inherit; font: inherit; }
input[type="checkbox"], input[type="radio"] { line-height: normal; padding: 0px; }
*, ::after, ::before { box-sizing: border-box; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p, #write pre { width: inherit; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p { position: relative; }
p { line-height: inherit; }
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p { orphans: 4; }
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h2 { font-size: 1.8rem; }
h3 { font-size: 1.6rem; }
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h5 { font-size: 1.2rem; }
h6 { font-size: 1rem; }
.md-math-block, .md-rawblock, h1, h2, h3, h4, h5, h6, p { margin-top: 1rem; margin-bottom: 1rem; }
.hidden { display: none; }
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a { cursor: pointer; }
sup.md-footnote { padding: 2px 4px; background-color: rgba(238, 238, 238, 0.7); color: rgb(85, 85, 85); border-radius: 4px; cursor: pointer; }
sup.md-footnote a, sup.md-footnote a:hover { color: inherit; text-transform: inherit; text-decoration: inherit; }
#write input[type="checkbox"] { cursor: pointer; width: inherit; height: inherit; }
figure { overflow-x: auto; margin: 1.2em 0px; max-width: calc(100% + 16px); padding: 0px; }
figure > table { margin: 0px !important; }
tr { break-inside: avoid; break-after: auto; }
thead { display: table-header-group; }
table { border-collapse: collapse; border-spacing: 0px; width: 100%; overflow: auto; break-inside: auto; text-align: left; }
table.md-table td { min-width: 32px; }
.CodeMirror-gutters { border-right: 0px; background-color: inherit; }
.CodeMirror-linenumber { user-select: none; }
.CodeMirror { text-align: left; }
.CodeMirror-placeholder { opacity: 0.3; }
.CodeMirror pre { padding: 0px 4px; }
.CodeMirror-lines { padding: 0px; }
div.hr:focus { cursor: none; }
#write pre { white-space: pre-wrap; }
#write.fences-no-line-wrapping pre { white-space: pre; }
#write pre.ty-contain-cm { white-space: normal; }
.CodeMirror-gutters { margin-right: 4px; }
.md-fences { font-size: 0.9rem; display: block; break-inside: avoid; text-align: left; overflow: visible; white-space: pre; background: inherit; position: relative !important; }
.md-diagram-panel { width: 100%; margin-top: 10px; text-align: center; padding-top: 0px; padding-bottom: 8px; overflow-x: auto; }
#write .md-fences.mock-cm { white-space: pre-wrap; }
.md-fences.md-fences-with-lineno { padding-left: 0px; }
#write.fences-no-line-wrapping .md-fences.mock-cm { white-space: pre; overflow-x: auto; }
.md-fences.mock-cm.md-fences-with-lineno { padding-left: 8px; }
.CodeMirror-line, twitterwidget { break-inside: avoid; }
.footnotes { opacity: 0.8; font-size: 0.9rem; margin-top: 1em; margin-bottom: 1em; }
.footnotes + .footnotes { margin-top: 0px; }
.md-reset { margin: 0px; padding: 0px; border: 0px; outline: 0px; vertical-align: top; background: 0px 0px; text-decoration: none; text-shadow: none; float: none; position: static; width: auto; height: auto; white-space: nowrap; cursor: inherit; -webkit-tap-highlight-color: transparent; line-height: normal; font-weight: 400; text-align: left; box-sizing: content-box; direction: ltr; }
li div { padding-top: 0px; }
blockquote { margin: 1rem 0px; }
li .mathjax-block, li p { margin: 0.5rem 0px; }
li { margin: 0px; position: relative; }
blockquote > :last-child { margin-bottom: 0px; }
blockquote > :first-child, li > :first-child { margin-top: 0px; }
.footnotes-area { color: rgb(136, 136, 136); margin-top: 0.714rem; padding-bottom: 0.143rem; white-space: normal; }
#write .footnote-line { white-space: pre-wrap; }
@media print {
body, html { border: 1px solid transparent; height: 99%; break-after: avoid; break-before: avoid; font-variant-ligatures: no-common-ligatures; }
#write { margin-top: 0px; padding-top: 0px; border-color: transparent !important; }
.typora-export * { -webkit-print-color-adjust: exact; }
html.blink-to-pdf { font-size: 13px; }
.typora-export #write { padding-left: 32px; padding-right: 32px; padding-bottom: 0px; break-after: avoid; }
.typora-export #write::after { height: 0px; }
}
.footnote-line { margin-top: 0.714em; font-size: 0.7em; }
a img, img a { cursor: pointer; }
pre.md-meta-block { font-size: 0.8rem; min-height: 0.8rem; white-space: pre-wrap; background: rgb(204, 204, 204); display: block; overflow-x: hidden; }
p > .md-image:only-child:not(.md-img-error) img, p > img:only-child { display: block; margin: auto; }
#write.first-line-indent p > .md-image:only-child:not(.md-img-error) img { left: -2em; position: relative; }
p > .md-image:only-child { display: inline-block; width: 100%; }
#write .MathJax_Display { margin: 0.8em 0px 0px; }
.md-math-block { width: 100%; }
.md-math-block:not(:empty)::after { display: none; }
[contenteditable="true"]:active, [contenteditable="true"]:focus, [contenteditable="false"]:active, [contenteditable="false"]:focus { outline: 0px; box-shadow: none; }
.md-task-list-item { position: relative; list-style-type: none; }
.task-list-item.md-task-list-item { padding-left: 0px; }
.md-task-list-item > input { position: absolute; top: 0px; left: 0px; margin-left: -1.2em; margin-top: calc(1em - 10px); border: none; }
.math { font-size: 1rem; }
.md-toc { min-height: 3.58rem; position: relative; font-size: 0.9rem; border-radius: 10px; }
.md-toc-content { position: relative; margin-left: 0px; }
.md-toc-content::after, .md-toc::after { display: none; }
.md-toc-item { display: block; color: rgb(65, 131, 196); }
.md-toc-item a { text-decoration: none; }
.md-toc-inner:hover { text-decoration: underline; }
.md-toc-inner { display: inline-block; cursor: pointer; }
.md-toc-h1 .md-toc-inner { margin-left: 0px; font-weight: 700; }
.md-toc-h2 .md-toc-inner { margin-left: 2em; }
.md-toc-h3 .md-toc-inner { margin-left: 4em; }
.md-toc-h4 .md-toc-inner { margin-left: 6em; }
.md-toc-h5 .md-toc-inner { margin-left: 8em; }
.md-toc-h6 .md-toc-inner { margin-left: 10em; }
@media screen and (max-width: 48em) {
.md-toc-h3 .md-toc-inner { margin-left: 3.5em; }
.md-toc-h4 .md-toc-inner { margin-left: 5em; }
.md-toc-h5 .md-toc-inner { margin-left: 6.5em; }
.md-toc-h6 .md-toc-inner { margin-left: 8em; }
}
a.md-toc-inner { font-size: inherit; font-style: inherit; font-weight: inherit; line-height: inherit; }
.footnote-line a:not(.reversefootnote) { color: inherit; }
.md-attr { display: none; }
.md-fn-count::after { content: "."; }
code, pre, samp, tt { font-family: var(--monospace); }
kbd { margin: 0px 0.1em; padding: 0.1em 0.6em; font-size: 0.8em; color: rgb(36, 39, 41); background: rgb(255, 255, 255); border: 1px solid rgb(173, 179, 185); border-radius: 3px; box-shadow: rgba(12, 13, 14, 0.2) 0px 1px 0px, rgb(255, 255, 255) 0px 0px 0px 2px inset; white-space: nowrap; vertical-align: middle; }
.md-comment { color: rgb(162, 127, 3); opacity: 0.8; font-family: var(--monospace); }
code { text-align: left; vertical-align: initial; }
a.md-print-anchor { white-space: pre !important; border-width: initial !important; border-style: none !important; border-color: initial !important; display: inline-block !important; position: absolute !important; width: 1px !important; right: 0px !important; outline: 0px !important; background: 0px 0px !important; text-decoration: initial !important; text-shadow: initial !important; }
.md-inline-math .MathJax_SVG .noError { display: none !important; }
.html-for-mac .inline-math-svg .MathJax_SVG { vertical-align: 0.2px; }
.md-math-block .MathJax_SVG_Display { text-align: center; margin: 0px; position: relative; text-indent: 0px; max-width: none; max-height: none; min-height: 0px; min-width: 100%; width: auto; overflow-y: hidden; display: block !important; }
.MathJax_SVG_Display, .md-inline-math .MathJax_SVG_Display { width: auto; margin: inherit; display: inline-block !important; }
.MathJax_SVG .MJX-monospace { font-family: var(--monospace); }
.MathJax_SVG .MJX-sans-serif { font-family: sans-serif; }
.MathJax_SVG { display: inline; font-style: normal; font-weight: 400; line-height: normal; zoom: 90%; text-indent: 0px; text-align: left; text-transform: none; letter-spacing: normal; word-spacing: normal; overflow-wrap: normal; white-space: nowrap; float: none; direction: ltr; max-width: none; max-height: none; min-width: 0px; min-height: 0px; border: 0px; padding: 0px; margin: 0px; }
.MathJax_SVG * { transition: none 0s ease 0s; }
.MathJax_SVG_Display svg { vertical-align: middle !important; margin-bottom: 0px !important; margin-top: 0px !important; }
.os-windows.monocolor-emoji .md-emoji { font-family: "Segoe UI Symbol", sans-serif; }
.md-diagram-panel > svg { max-width: 100%; }
[lang="flow"] svg, [lang="mermaid"] svg { max-width: 100%; height: auto; }
[lang="mermaid"] .node text { font-size: 1rem; }
table tr th { border-bottom: 0px; }
video { max-width: 100%; display: block; margin: 0px auto; }
iframe { max-width: 100%; width: 100%; border: none; }
.highlight td, .highlight tr { border: 0px; }
svg[id^="mermaidChart"] { line-height: 1em; }
mark { background: rgb(255, 255, 0); color: rgb(0, 0, 0); }
.md-html-inline .md-plain, .md-html-inline strong, mark .md-inline-math, mark strong { color: inherit; }
mark .md-meta { color: rgb(0, 0, 0); opacity: 0.3 !important; }
.CodeMirror { height: auto; }
.CodeMirror.cm-s-inner { background: inherit; }
.CodeMirror-scroll { overflow: auto hidden; z-index: 3; }
.CodeMirror-gutter-filler, .CodeMirror-scrollbar-filler { background-color: rgb(255, 255, 255); }
.CodeMirror-gutters { border-right: 1px solid rgb(221, 221, 221); background: inherit; white-space: nowrap; }
.CodeMirror-linenumber { padding: 0px 3px 0px 5px; text-align: right; color: rgb(153, 153, 153); }
.cm-s-inner .cm-keyword { color: rgb(119, 0, 136); }
.cm-s-inner .cm-atom, .cm-s-inner.cm-atom { color: rgb(34, 17, 153); }
.cm-s-inner .cm-number { color: rgb(17, 102, 68); }
.cm-s-inner .cm-def { color: rgb(0, 0, 255); }
.cm-s-inner .cm-variable { color: rgb(0, 0, 0); }
.cm-s-inner .cm-variable-2 { color: rgb(0, 85, 170); }
.cm-s-inner .cm-variable-3 { color: rgb(0, 136, 85); }
.cm-s-inner .cm-string { color: rgb(170, 17, 17); }
.cm-s-inner .cm-property { color: rgb(0, 0, 0); }
.cm-s-inner .cm-operator { color: rgb(152, 26, 26); }
.cm-s-inner .cm-comment, .cm-s-inner.cm-comment { color: rgb(170, 85, 0); }
.cm-s-inner .cm-string-2 { color: rgb(255, 85, 0); }
.cm-s-inner .cm-meta { color: rgb(85, 85, 85); }
.cm-s-inner .cm-qualifier { color: rgb(85, 85, 85); }
.cm-s-inner .cm-builtin { color: rgb(51, 0, 170); }
.cm-s-inner .cm-bracket { color: rgb(153, 153, 119); }
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.cm-s-inner .cm-quote, .cm-s-inner.cm-quote { color: rgb(0, 153, 0); }
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.cm-em { font-style: italic; }
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.cm-error { color: red; }
.cm-invalidchar { color: red; }
.cm-constant { color: rgb(38, 139, 210); }
.cm-defined { color: rgb(181, 137, 0); }
div.CodeMirror span.CodeMirror-matchingbracket { color: rgb(0, 255, 0); }
div.CodeMirror span.CodeMirror-nonmatchingbracket { color: rgb(255, 34, 34); }
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.cm-searching { background: rgba(255, 255, 0, 0.4); }
@media print {
.CodeMirror div.CodeMirror-cursor { visibility: hidden; }
}
:root {
--side-bar-bg-color: #fafafa;
--control-text-color: #777;
}
@include-when-export url(https://fonts.loli.net/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext);
html {
font-size: 16px;
}
body {
font-family: "Open Sans","Clear Sans","Helvetica Neue",Helvetica,Arial,sans-serif;
color: rgb(51, 51, 51);
line-height: 1.6;
}
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<div id='write' class = 'is-node'><h3><a name="table-of-content" class="md-header-anchor"></a><span>Table of Content</span></h3><ol start='' ><li><a href='#tutorial-car-2020414'><span>tutorial car (2020/4/14)</span></a></li><li><a href='#simple-version-of-feeder2020420'><span>simple version of feeder(2020/4/20)</span></a></li><li><a href='#chassis-model-importing-2020424'><span>chassis model importing (2020/4/24)</span></a></li><li><a href='#assembling-with-imported-model-2020430'><span>assembling with imported model (2020/4/30)</span></a></li><li><a href='#boundingobject-problem-solved202051'><span>'boundingobject' problem solved(2020/5/1)</span></a></li><li><a href='#improved-feeder2020514'><span>improved feeder(2020/5/14)</span></a></li><li><a href='#update-chassispy2020515'><span>update chassis.py(2020/5/15)</span></a></li><li><a href='#chassis-test-controller2020516'><span>chassis test controller(2020/5/16)</span></a></li><li><a href='#turning-algorithm2020520'><span>turning algorithm(2020/5/20)</span></a></li><li><a href='#update-chassispy2020523'><span>update chassis.py(2020/5/23)</span></a></li><li><a href='#improved-feeder2020524'><span>improved feeder(2020/5/24)</span></a></li><li><a href='#update-chassispy2020526'><span>update chassis.py(2020/5/26)</span></a></li></ol><hr /><h2><a name="differential-steering-chassis" class="md-header-anchor"></a><span>Differential steering chassis</span></h2><h3><a name="tutorial-car-2020414" class="md-header-anchor"></a><span>tutorial car (2020/4/14)</span></h3><h4><a name="description" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>construction based on tutorial</span></li><li><span>go straight</span></li><li><span>detect obstacle and turn to avoid collision</span></li></ul><h4><a name="structure" class="md-header-anchor"></a><span>structure:</span></h4><ul><li><p><span>Robot</span></p><ul><li><p><span>children</span></p><ul><li><span>DistanceSensor "ds_left"</span></li><li><span>DistanceSensor "ds_right"</span></li><li><span>HingeJoint</span></li><li><span>HingeJoint</span></li><li><span>HingeJoint</span></li><li><span>HingeJoint</span></li><li><span>DEF Body Shape</span></li></ul></li></ul></li></ul><h4><a name="specification" class="md-header-anchor"></a><span>specification:</span></h4><p><img src="notebook.assets/tut.png" referrerpolicy="no-referrer" alt="tut"></p><figure><table><thead><tr><th><span>part</span></th><th><span>size</span></th><th><span>unit</span></th></tr></thead><tbody><tr><td><span>wheel</span></td><td><span>radius: 0.045, width: 0.01</span></td><td><span>m</span></td></tr><tr><td><span>body</span></td><td><span>0.09</span><span>*</span><span>0.03</span><span>*</span><span>0.16</span></td><td><span>m</span></td></tr></tbody></table></figure><p> </p><h4><a name="codes" class="md-header-anchor"></a><span>codes:</span></h4><pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="c++" style="break-inside: unset;"><div class="CodeMirror cm-s-inner CodeMirror-wrap" lang="c++"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><pre><span>xxxxxxxxxx</span></pre></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-meta">#include <webots/DistanceSensor.hpp></span></span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-meta">#include <webots/Motor.hpp></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-meta">#include <webots/Robot.hpp></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-meta">#define TIME_STEP 64</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">using</span> <span class="cm-keyword">namespace</span> <span class="cm-def">webots</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable-3">int</span> <span class="cm-def">main</span>(<span class="cm-variable-3">int</span> <span class="cm-variable">argc</span>, <span class="cm-variable-3">char</span> <span class="cm-variable-3">**</span><span class="cm-variable">argv</span>) {</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">Robot</span> <span class="cm-operator">*</span><span class="cm-variable">robot</span> <span class="cm-operator">=</span> <span class="cm-keyword">new</span> <span class="cm-variable">Robot</span>();</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">DistanceSensor</span> <span class="cm-operator">*</span><span class="cm-variable">ds</span>[<span class="cm-number">2</span>];</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-3">char</span> <span class="cm-variable">dsNames</span>[<span class="cm-number">2</span>][<span class="cm-number">10</span>] <span class="cm-operator">=</span> {<span class="cm-string">"ds_right"</span>, <span class="cm-string">"ds_left"</span>};</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> (<span class="cm-variable-3">int</span> <span class="cm-variable">i</span> <span class="cm-operator">=</span> <span class="cm-number">0</span>; <span class="cm-variable">i</span> <span class="cm-operator"><</span> <span class="cm-number">2</span>; <span class="cm-variable">i</span><span class="cm-operator">++</span>) {</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">ds</span>[<span class="cm-variable">i</span>] <span class="cm-operator">=</span> <span class="cm-variable">robot</span><span class="cm-operator">-></span><span class="cm-variable">getDistanceSensor</span>(<span class="cm-variable">dsNames</span>[<span class="cm-variable">i</span>]);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">ds</span>[<span class="cm-variable">i</span>]<span class="cm-operator">-></span><span class="cm-variable">enable</span>(<span class="cm-variable">TIME_STEP</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">Motor</span> <span class="cm-operator">*</span><span class="cm-variable">wheels</span>[<span class="cm-number">4</span>];</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-3">char</span> <span class="cm-variable">wheels_names</span>[<span class="cm-number">4</span>][<span class="cm-number">8</span>] <span class="cm-operator">=</span> {<span class="cm-string">"wheel1"</span>, <span class="cm-string">"wheel2"</span>, <span class="cm-string">"wheel3"</span>, <span class="cm-string">"wheel4"</span>};</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> (<span class="cm-variable-3">int</span> <span class="cm-variable">i</span> <span class="cm-operator">=</span> <span class="cm-number">0</span>; <span class="cm-variable">i</span> <span class="cm-operator"><</span> <span class="cm-number">4</span>; <span class="cm-variable">i</span><span class="cm-operator">++</span>) {</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-variable">i</span>] <span class="cm-operator">=</span> <span class="cm-variable">robot</span><span class="cm-operator">-></span><span class="cm-variable">getMotor</span>(<span class="cm-variable">wheels_names</span>[<span class="cm-variable">i</span>]);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-variable">i</span>]<span class="cm-operator">-></span><span class="cm-variable">setPosition</span>(<span class="cm-variable">INFINITY</span>); </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-variable">i</span>]<span class="cm-operator">-></span><span class="cm-variable">setVelocity</span>(<span class="cm-number">0.0</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-3">int</span> <span class="cm-variable">avoidObstacleCounter</span> <span class="cm-operator">=</span> <span class="cm-number">0</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">while</span> (<span class="cm-variable">robot</span><span class="cm-operator">-></span><span class="cm-variable">step</span>(<span class="cm-variable">TIME_STEP</span>) <span class="cm-operator">!=</span> <span class="cm-operator">-</span><span class="cm-number">1</span>) {</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-3">double</span> <span class="cm-variable">leftSpeed</span> <span class="cm-operator">=</span> <span class="cm-number">1.0</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-3">double</span> <span class="cm-variable">rightSpeed</span> <span class="cm-operator">=</span> <span class="cm-number">1.0</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">printf</span>(<span class="cm-string">"avoidObstacleCounter = %d\n"</span>,<span class="cm-variable">avoidObstacleCounter</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> (<span class="cm-variable">avoidObstacleCounter</span> <span class="cm-operator">></span> <span class="cm-number">0</span>) {</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">avoidObstacleCounter</span><span class="cm-operator">--</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">leftSpeed</span> <span class="cm-operator">=</span> <span class="cm-number">1.0</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">rightSpeed</span> <span class="cm-operator">=</span> <span class="cm-operator">-</span><span class="cm-number">1.0</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> } <span class="cm-keyword">else</span> { <span class="cm-comment">// read sensors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> (<span class="cm-variable-3">int</span> <span class="cm-variable">i</span> <span class="cm-operator">=</span> <span class="cm-number">0</span>; <span class="cm-variable">i</span> <span class="cm-operator"><</span> <span class="cm-number">2</span>; <span class="cm-variable">i</span><span class="cm-operator">++</span>) {</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> (<span class="cm-variable">ds</span>[<span class="cm-variable">i</span>]<span class="cm-operator">-></span><span class="cm-variable">getValue</span>() <span class="cm-operator"><</span> <span class="cm-number">950.0</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">avoidObstacleCounter</span> <span class="cm-operator">=</span> <span class="cm-number">10</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">0</span>]<span class="cm-operator">-></span><span class="cm-variable">setVelocity</span>(<span class="cm-variable">leftSpeed</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">1</span>]<span class="cm-operator">-></span><span class="cm-variable">setVelocity</span>(<span class="cm-variable">rightSpeed</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">2</span>]<span class="cm-operator">-></span><span class="cm-variable">setVelocity</span>(<span class="cm-variable">rightSpeed</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">3</span>]<span class="cm-operator">-></span><span class="cm-variable">setVelocity</span>(<span class="cm-variable">leftSpeed</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">delete</span> <span class="cm-variable">robot</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-number">0</span>; <span class="cm-comment">// EXIT_SUCCESS</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;">}</span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 1035px;"></div><div class="CodeMirror-gutters" style="display: none; height: 1035px;"></div></div></div></pre><h3><a name="simple-version-of-feeder2020420" class="md-header-anchor"></a><span>simple version of feeder(2020/4/20)</span></h3><h4><a name="description-n4672" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>a rotating plate to through fish food</span></li></ul><p><img src="notebook.assets/image-20200606221026181.png" referrerpolicy="no-referrer" alt="image-20200606221026181"></p><h3><a name="chassis-model-importing-2020424" class="md-header-anchor"></a><span>chassis model importing (2020/4/24)</span></h3><h4><a name="description-n4678" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>editing model with solid works</span></li></ul><p><img src="notebook.assets/sw.png" referrerpolicy="no-referrer" alt="sw"></p><ul><li><span>importing errors occur</span></li></ul><p><img src="notebook.assets/QQ图片20200606213743.png" referrerpolicy="no-referrer" alt="QQ图片20200606213743"></p><ul><li><span>imported wheel centered at wrong position</span></li></ul><p><img src="notebook.assets/QQ图片20200606214114-1591450905186.png" referrerpolicy="no-referrer" alt="QQ图片20200606214114"></p><ul><li><span>setting wheel center point</span></li></ul><p><a href='http://help.solidworks.com/2016/Chinese-simplified/SolidWorks/Sldworks/t_Changing_the_Origin_Location_and_Orientation.htm' target='_blank' class='url'>http://help.solidworks.com/2016/Chinese-simplified/SolidWorks/Sldworks/t_Changing_the_Origin_Location_and_Orientation.htm</a></p><p><a href='http://blog.sina.com.cn/s/blog_7e5989aa0100rzoa.html' target='_blank' class='url'>http://blog.sina.com.cn/s/blog_7e5989aa0100rzoa.html</a></p><p><img src="notebook.assets/SU$JW`6TQ4ZFHFR6VBW[VMS.png" referrerpolicy="no-referrer" alt="img"></p><p> </p><h3><a name="assembling-with-imported-model-2020430" class="md-header-anchor"></a><span>assembling with imported model (2020/4/30)</span></h3><h4><a name="description-n4699" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>fail to to set the imported model as 'boundingobject', webots crush</span></li><li><span>try to export simplified model from solid works</span></li></ul><p><a href='http://help.solidworks.com/2017/chinese-simplified/SolidWorks/sldworks/t_simplifying_parts.htm' target='_blank' class='url'>http://help.solidworks.com/2017/chinese-simplified/SolidWorks/sldworks/t_simplifying_parts.htm</a></p><p><a href='http://help.solidworks.com/2017/chinese-simplified/SolidWorks/scanto3d/t_simplifying_mesh_or_point_cloud_files.htm' target='_blank' class='url'>http://help.solidworks.com/2017/chinese-simplified/SolidWorks/scanto3d/t_simplifying_mesh_or_point_cloud_files.htm</a></p><h3><a name="boundingobject-problem-solved202051" class="md-header-anchor"></a><span>'boundingobject' problem solved(2020/5/1)</span></h3><h4><a name="description-n4708" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>set a box including the model as 'boundingobject'</span></li></ul><p><img src="notebook.assets/QQ图片20200606215525.png" referrerpolicy="no-referrer" alt="QQ图片20200606215525"></p><h3><a name="improved-feeder2020514" class="md-header-anchor"></a><span>improved feeder(2020/5/14)</span></h3><h4><a name="description-n4714" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>a new feeder: a rotating box</span></li></ul><p><img src="notebook.assets/3D53592554FCD56BE21AE9433BA549FE.png" referrerpolicy="no-referrer" alt="3D53592554FCD56BE21AE9433BA549FE"></p><ul><li><p><span>turning problem: after new feeder added, the car cannot turn around its geometry center.</span></p><ul><li><span>possible explanation one: different friction of different surfaces</span></li><li><span>possible explanation two: feeder changes the mass center of the chassis</span></li></ul></li></ul><p><img src="notebook.assets/7ADF1EE9ED13DB168688CE0BAD03C808-1591453474778.png" referrerpolicy="no-referrer" alt="7ADF1EE9ED13DB168688CE0BAD03C808"></p><h3><a name="update-chassispy2020515" class="md-header-anchor"></a><span>update chassis.py(2020/5/15) </span></h3><h4><a name="description-n4729" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>define basic command(moving forward, moving backward, turn right, turn left)</span></li></ul><h4><a name="codes-n4733" class="md-header-anchor"></a><span>codes:</span></h4><pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="python" style="break-inside: unset;"><div class="CodeMirror cm-s-inner CodeMirror-wrap" lang="python"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><pre><span>xxxxxxxxxx</span></pre></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">import</span> <span class="cm-variable">time</span></span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">from</span> <span class="cm-variable">colored</span> <span class="cm-keyword">import</span> <span class="cm-variable">commandInfo</span>, <span class="cm-variable">debugInfo</span>, <span class="cm-variable">detectedInfo</span>, <span class="cm-variable">info</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">Motor</span>(<span class="cm-builtin">object</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> motor interface</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">robot</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">timestep</span> = <span class="cm-builtin">int</span>(<span class="cm-variable">robot</span>.<span class="cm-property">getBasicTimeStep</span>())</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># enable motors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span> = {}</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'arm'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'arm'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel1'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel2'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel3'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel3'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setPosition</span>(<span class="cm-builtin">float</span>(<span class="cm-string">'inf'</span>))</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setVelocity</span>(<span class="cm-number">0.0</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">update</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">velocityDict</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> `velocityList`: list of velocity to set to motors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">velocityDict</span>[<span class="cm-variable">motor</span>])</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-comment"># WHERRERER SO MY </span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">Controller</span>(<span class="cm-builtin">object</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> Controller class</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span> = {}</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">info</span>(<span class="cm-string">'Chassis initialed'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">set_queue</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">command_queue</span>, <span class="cm-variable">motors_queue</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span> = <span class="cm-variable">command_queue</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors_queue</span> = <span class="cm-variable">motors_queue</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">recv_command</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> return the received command from command_queue\n</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> the return value will be `''` if command_queue is empty</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-keyword">not</span> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span>.<span class="cm-property">empty</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span>.<span class="cm-property">get</span>()</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">else</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-string">''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">set_state</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">command</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> set state of the chassis by command, a commandInfo will output</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># clean state</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">motor</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Rotate arm'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Arm rotating'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'arm'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Move forward'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Moving forward'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Move backward'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Moving backward'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Turn right'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Turning right'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Turn left'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Turning left'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Stop'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Stopped'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-operator">-</span><span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment">#wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors_queue</span>.<span class="cm-property">put</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">commandInfo</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">state</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">run</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">flag_pause</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> `flag_pause`: the flag to pause this Decider running (actually skips all code in this function)\n</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">while</span> <span class="cm-keyword">True</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">time</span>.<span class="cm-property">sleep</span>(<span class="cm-number">0.1</span>) <span class="cm-comment"># set chassis period to 0.1s</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># skip all code inside if paused by webots</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-keyword">not</span> <span class="cm-variable">flag_pause</span>.<span class="cm-property">value</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">set_state</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">recv_command</span>())</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">if</span> <span class="cm-variable">__name__</span> == <span class="cm-string">"__main__"</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">pass</span></span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 2760px;"></div><div class="CodeMirror-gutters" style="display: none; height: 2760px;"></div></div></div></pre><p> </p><h3><a name="chassis-test-controller2020516" class="md-header-anchor"></a><span>chassis test controller(2020/5/16)</span></h3><h4><a name="description-n4737" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>in order to verify the turning problem</span></li></ul><h4><a name="codes-n4741" class="md-header-anchor"></a><span>codes:</span></h4><pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="python" style="break-inside: unset;"><div class="CodeMirror cm-s-inner CodeMirror-wrap" lang="python"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><pre><span>xxxxxxxxxx</span></pre></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">from</span> <span class="cm-variable">controller</span> <span class="cm-keyword">import</span> <span class="cm-variable">Robot</span></span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">TIME_STEP</span> = <span class="cm-number">64</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">robot</span> = <span class="cm-variable">Robot</span>()</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-comment">#ds = []</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-comment">#dsNames = ['ds_right', 'ds_left']</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string">"""</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string">for i in range(2):</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> ds.append(robot.getDistanceSensor(dsNames[i]))</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> ds[i].enable(TIME_STEP)</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string">"""</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">wheels</span> = []</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-variable">wheelsNames</span> = [<span class="cm-string">'wheel1'</span>, <span class="cm-string">'wheel2'</span>, <span class="cm-string">'wheel3'</span>, <span class="cm-string">'wheel4'</span>]</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">for</span> <span class="cm-variable">i</span> <span class="cm-keyword">in</span> <span class="cm-builtin">range</span>(<span class="cm-number">4</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>.<span class="cm-property">append</span>(<span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-variable">wheelsNames</span>[<span class="cm-variable">i</span>]))</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-variable">i</span>].<span class="cm-property">setPosition</span>(<span class="cm-builtin">float</span>(<span class="cm-string">'inf'</span>))</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-variable">i</span>].<span class="cm-property">setVelocity</span>(<span class="cm-number">0.0</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-comment">#avoidObstacleCounter = 0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">def</span> <span class="cm-def">forward</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">leftSpeed</span> = <span class="cm-operator">-</span><span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">rightSpeed</span> = <span class="cm-operator">-</span><span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">0</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">1</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">2</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">3</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">def</span> <span class="cm-def">backward</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">leftSpeed</span> = <span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">rightSpeed</span> = <span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">0</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">1</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">2</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">3</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">def</span> <span class="cm-def">leftturn</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">leftSpeed</span> = <span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">rightSpeed</span> = <span class="cm-operator">-</span><span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">0</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">1</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">2</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">3</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">def</span> <span class="cm-def">rightturn</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">leftSpeed</span> = <span class="cm-operator">-</span><span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">rightSpeed</span> = <span class="cm-number">1.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">0</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">1</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">2</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">3</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">def</span> <span class="cm-def">stop</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">leftSpeed</span> = <span class="cm-number">0.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">rightSpeed</span> = <span class="cm-number">0.0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">0</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">1</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">leftSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">2</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">wheels</span>[<span class="cm-number">3</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">rightSpeed</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">while</span> <span class="cm-variable">robot</span>.<span class="cm-property">step</span>(<span class="cm-variable">TIME_STEP</span>) <span class="cm-operator">!</span>= <span class="cm-operator">-</span><span class="cm-number">1</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">forward</span>()</span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 1472px;"></div><div class="CodeMirror-gutters" style="display: none; height: 1472px;"></div></div></div></pre><h3><a name="turning-algorithm2020520" class="md-header-anchor"></a><span>turning algorithm(2020/5/20)</span></h3><h4><a name="description-n4744" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>discussing turning mechanism</span></li></ul><p><img src="notebook.assets/{877469AE-CB79-BAB6-EDE9-863107BCC7E7}.png" referrerpolicy="no-referrer" alt="img"></p><h3><a name="update-chassispy2020523" class="md-header-anchor"></a><span>update chassis.py(2020/5/23)</span></h3><h4><a name="description-n4750" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>update turning command</span></li></ul><h4><a name="codes-n4754" class="md-header-anchor"></a><span>codes:</span></h4><pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="python" style="break-inside: unset;"><div class="CodeMirror cm-s-inner CodeMirror-wrap" lang="python"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><pre><span>xxxxxxxxxx</span></pre></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">import</span> <span class="cm-variable">time</span></span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">from</span> <span class="cm-variable">colored</span> <span class="cm-keyword">import</span> <span class="cm-variable">commandInfo</span>, <span class="cm-variable">debugInfo</span>, <span class="cm-variable">detectedInfo</span>, <span class="cm-variable">info</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">MotorsGroup</span>(<span class="cm-builtin">object</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> rover motor interface</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">pass</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">update</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">velocityDict</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> `velocityList`: list of velocity to set to motors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">velocityDict</span>[<span class="cm-variable">motor</span>])</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">WebotsMotorsGroup</span>(<span class="cm-variable">MotorsGroup</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> webots rover motor interface</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">robot</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-builtin">super</span>().<span class="cm-property">__init__</span>()</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">timestep</span> = <span class="cm-builtin">int</span>(<span class="cm-variable">robot</span>.<span class="cm-property">getBasicTimeStep</span>())</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># enable motors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span> = {}</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'arm'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'arm'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel1'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel2'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel3'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel4'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setPosition</span>(<span class="cm-builtin">float</span>(<span class="cm-string">'inf'</span>))</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setVelocity</span>(<span class="cm-number">0.0</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">update</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">velocityDict</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-builtin">super</span>().<span class="cm-property">update</span>(<span class="cm-variable">velocityDict</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">Controller</span>(<span class="cm-builtin">object</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> chassis controller</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span> = {}</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> = <span class="cm-number">30</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span> = <span class="cm-number">50</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">info</span>(<span class="cm-string">'Chassis initialed'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">set_queue</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">command_queue</span>, <span class="cm-variable">motors_queue</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span> = <span class="cm-variable">command_queue</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors_queue</span> = <span class="cm-variable">motors_queue</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">recv_command</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> return the received command from command_queue\n</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> the return value will be `''` if command_queue is empty</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">while</span> <span class="cm-keyword">not</span> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span>.<span class="cm-property">empty</span>():</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span>.<span class="cm-property">get</span>()</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">else</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-string">''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">set_state</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">command</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> set state of the chassis by command, a commandInfo will output</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># clean state</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">motor</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Rotate arm'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Arm rotating'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'arm'</span>] = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span>[:<span class="cm-number">4</span>] == <span class="cm-string">'Turn'</span> <span class="cm-keyword">and</span> <span class="cm-variable">command</span>[:<span class="cm-number">5</span>] <span class="cm-operator">!</span>= <span class="cm-string">'Turn '</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">shift</span> = <span class="cm-builtin">float</span>(<span class="cm-variable">command</span>[<span class="cm-number">4</span>:]) <span class="cm-operator">*</span> <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-variable">command</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">+</span> <span class="cm-variable">shift</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">+</span> <span class="cm-variable">shift</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">-</span> <span class="cm-variable">shift</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">-</span> <span class="cm-variable">shift</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Move forward'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Moving forward'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Move backward'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Moving backward'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Turn right'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Turning right'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Turn left'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Turning left'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Stop'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Stopped'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">item</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] <span class="cm-operator"><</span> <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] <span class="cm-operator">></span> <span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>]</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors_queue</span>.<span class="cm-property">put</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">commandInfo</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">state</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">run</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">flag_pause</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> `flag_pause`: the flag to pause this Decider running (actually skips all code in this function)\n</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">while</span> <span class="cm-keyword">True</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># time.sleep(0.1) # set chassis period to 0.1s</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># skip all code inside if paused by webots</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-keyword">not</span> <span class="cm-variable">flag_pause</span>.<span class="cm-property">value</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">set_state</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">recv_command</span>())</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">if</span> <span class="cm-variable">__name__</span> == <span class="cm-string">"__main__"</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">pass</span></span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 3473px;"></div><div class="CodeMirror-gutters" style="display: none; height: 3473px;"></div></div></div></pre><h3><a name="improved-feeder2020524" class="md-header-anchor"></a><span>improved feeder(2020/5/24)</span></h3><h4><a name="description-n4757" class="md-header-anchor"></a><span>description:</span></h4><ul><li><span>a new feeder consisting three rotating motors</span></li></ul><p><img src="notebook.assets/image-20200606232330670.png" referrerpolicy="no-referrer" alt="image-20200606232330670"></p><h3><a name="update-chassispy2020526" class="md-header-anchor"></a><span>update chassis.py(2020/5/26)</span></h3><h4><a name="description-n4763" class="md-header-anchor"></a><span>description:</span></h4><ul><li><p><span>define feeding command</span></p><ul><li><span>release fish food</span></li><li><span>retract arm</span></li></ul></li></ul><h4><a name="codes-n4772" class="md-header-anchor"></a><span>codes:</span></h4><pre spellcheck="false" class="md-fences md-end-block ty-contain-cm modeLoaded" lang="python" style="break-inside: unset;"><div class="CodeMirror cm-s-inner CodeMirror-wrap" lang="python"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><pre><span>xxxxxxxxxx</span></pre></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">import</span> <span class="cm-variable">queue</span></span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">import</span> <span class="cm-variable">time</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">from</span> <span class="cm-variable">colored</span> <span class="cm-keyword">import</span> <span class="cm-variable">commandInfo</span>, <span class="cm-variable">debugInfo</span>, <span class="cm-variable">detectedInfo</span>, <span class="cm-variable">info</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">MotorsGroup</span>(<span class="cm-builtin">object</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> rover motor interface</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">pass</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">update</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">velocityDict</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> `velocityList`: list of velocity to set to motors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setVelocity</span>(<span class="cm-variable">velocityDict</span>[<span class="cm-variable">motor</span>])</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">WebotsMotorsGroup</span>(<span class="cm-variable">MotorsGroup</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> webots rover motor interface</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">robot</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-builtin">super</span>().<span class="cm-property">__init__</span>()</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">timestep</span> = <span class="cm-builtin">int</span>(<span class="cm-variable">robot</span>.<span class="cm-property">getBasicTimeStep</span>())</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># enable motors</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span> = {}</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'A motor'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'A motor'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'B motor'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'B motor'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'C motor'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'C motor'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel1'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel2'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel3'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable">robot</span>.<span class="cm-property">getMotor</span>(<span class="cm-string">'wheel4'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setPosition</span>(<span class="cm-builtin">float</span>(<span class="cm-string">'inf'</span>))</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors</span>[<span class="cm-variable">motor</span>].<span class="cm-property">setVelocity</span>(<span class="cm-number">0.0</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">update</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">velocityDict</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-builtin">super</span>().<span class="cm-property">update</span>(<span class="cm-variable">velocityDict</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">class</span> <span class="cm-def">Controller</span>(<span class="cm-builtin">object</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> chassis controller</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">__init__</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span> = {}</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> = <span class="cm-number">8</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span> = <span class="cm-number">10</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">steer_coefficient</span> = <span class="cm-number">0.5</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">info</span>(<span class="cm-string">'Chassis initialed'</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">set_queue</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">command_queue</span>, <span class="cm-variable">motors_queue</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span> = <span class="cm-variable">command_queue</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors_queue</span> = <span class="cm-variable">motors_queue</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">recv_command</span>(<span class="cm-variable-2">self</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> return the received command from command_queue\n</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> the return value will be `''` if command_queue is empty</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">command</span> = <span class="cm-string">''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">while</span> <span class="cm-keyword">True</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">try</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">command</span> = <span class="cm-variable-2">self</span>.<span class="cm-property">command_queue</span>.<span class="cm-property">get</span>(<span class="cm-variable">block</span>=<span class="cm-keyword">True</span>, <span class="cm-variable">timeout</span>=<span class="cm-number">0.05</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">except</span> <span class="cm-variable">queue</span>.<span class="cm-property">Empty</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">break</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">return</span> <span class="cm-variable">command</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">set_state</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">command</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> set state of the chassis by command, a commandInfo will output</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># clean state</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">motor</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">motor</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Feed'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Feeding'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'A motor'</span>] = <span class="cm-number">1</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'B motor'</span>] = <span class="cm-number">1</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'C motor'</span>] = <span class="cm-number">1</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> </span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Feeder recover'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Feeder recovering'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'A motor'</span>] = <span class="cm-operator">-</span><span class="cm-number">1</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'B motor'</span>] = <span class="cm-operator">-</span><span class="cm-number">1</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'C motor'</span>] = <span class="cm-operator">-</span><span class="cm-number">1</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># wheel</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span>[:<span class="cm-number">4</span>] == <span class="cm-string">'Turn'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">steer</span> = <span class="cm-builtin">float</span>(<span class="cm-variable">command</span>[<span class="cm-number">4</span>:]) <span class="cm-operator">*</span> <span class="cm-variable-2">self</span>.<span class="cm-property">steer_coefficient</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Steering speed: '</span> <span class="cm-operator">+</span> <span class="cm-builtin">str</span>(<span class="cm-variable">steer</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">+</span> <span class="cm-variable">steer</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">+</span> <span class="cm-variable">steer</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">-</span> <span class="cm-variable">steer</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span> <span class="cm-operator">-</span> <span class="cm-variable">steer</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Move forward'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Moving forward'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Move backward'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Moving backward'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">defaultVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable">command</span> == <span class="cm-string">'Stop'</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">state</span> = <span class="cm-string">'Stopped'</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel1'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel2'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel3'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-string">'wheel4'</span>] = <span class="cm-number">0</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">for</span> <span class="cm-variable">item</span> <span class="cm-keyword">in</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] <span class="cm-operator"><</span> <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">if</span> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] <span class="cm-operator">></span> <span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] = <span class="cm-variable-2">self</span>.<span class="cm-property">maxVelocity</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>] = <span class="cm-operator">-</span><span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>[<span class="cm-variable">item</span>]</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">motors_queue</span>.<span class="cm-property">put</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">velocityDict</span>)</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-comment"># commandInfo(self.state)</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">def</span> <span class="cm-def">run</span>(<span class="cm-variable-2">self</span>, <span class="cm-variable">flag_pause</span>):</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-string">'''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> `flag_pause`: the flag to pause this Decider running (actually skips all code in this function)\n</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-string"> '''</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">while</span> <span class="cm-keyword">True</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable">time</span>.<span class="cm-property">sleep</span>(<span class="cm-number">0.1</span>) <span class="cm-comment"># set chassis period to 0.1s</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-variable-2">self</span>.<span class="cm-property">set_state</span>(<span class="cm-variable-2">self</span>.<span class="cm-property">recv_command</span>())</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text=""></span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-keyword">if</span> <span class="cm-variable">__name__</span> == <span class="cm-string">"__main__"</span>:</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> <span class="cm-keyword">pass</span></span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 3473px;"></div><div class="CodeMirror-gutters" style="display: none; height: 3473px;"></div></div></div></pre><p> </p></div>
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