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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# FollowMe Butia - Robot
# Copyright (C) 2010, 2011, 2012
# This program was created to use with the robot Butia.
# Butia is a project from Facultad de Ingenieria - Uruguay
# Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
# Butia project web site: <http://www.fing.edu.uy/inco/proyectos/butia/>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
# Contact information:
# Alan Aguiar <alanjas@gmail.com>
# Aylen Ricca <ar18_90@hotmail.com>
# Rodrigo Dearmas <piegrande46@hotmail.com>
class Robot(object):
def __init__(self, tamanioc):
self.z1 = tamanioc[0] / 15.0
self.z2 = tamanioc[1] / 3.0
self.vel_anterior = (0, 0, 0, 0)
self.butia = None
self.bobot = None
self.bobot_launch()
def bobot_launch(self):
print 'Initialising butia...'
output = commands.getoutput('ps -ax | grep lua')
if 'bobot-server' in output:
print 'bobot is alive!'
else:
try:
print 'creating bobot'
self.bobot = subprocess.Popen(['./lua', 'bobot-server.lua'], cwd='./lib/butia_support')
except:
print 'ERROR creating bobot'
time.sleep(1)
self.butia = butiaAPI.robot()
self.modules = self.butia.get_modules_list()
if (self.modules != []):
print self.modules
else:
print _('Butia robot was not detected')
def move_robot(self, pos):
x,y = pos
vel_actual = (0, 0, 0, 0)
if (x >= 0) and (x <= (2*self.z1)):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 900, 1, 600)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 900, 1, 900)
elif (y >= 2*self.z2):
vel_actual = (0, 900, 0, 600)
elif (x > (2*self.z1)) and (x <= (4*self.z1)):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 600, 1, 300)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 600, 1, 600)
elif (y >= 2*self.z2):
vel_actual = (0, 600, 0, 600)
elif (x > (4*self.z1)) and (x <= (6*self.z1)):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 300, 1, 0)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 300, 1, 300)
elif (y >= 2*self.z2):
vel_actual = (0, 300, 0, 0)
elif (x > 6*self.z1) and (x < 9*self.z1):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 300, 1, 300)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 0, 0, 0)
elif (y >= 2*self.z2):
vel_actual = (0, 300, 0, 300)
elif (x >= (9*self.z1)) and (x < (11*self.z1)):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 0, 1, 300)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 300, 1, 300)
elif (y >= 2*self.z2):
vel_actual = (0, 0, 0, 300)
elif (x >= 11*self.z1) and (x < 13*self.z1):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 300, 1, 600)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 600, 1, 600)
elif (y >= 2*self.z2):
vel_actual = (0, 300, 0, 600)
elif (x >= (13*self.z1)):
if (y >= 0) and (y <= self.z2) :
vel_actual = (1, 600, 1, 900)
elif (y > self.z2) and (y < 2*self.z2):
vel_actual = (0, 900, 1, 900)
elif (y >= 2*self.z2):
vel_actual = (0, 600, 0, 900)
# para evitar envios de velocidad innecesarios al robot
if not(vel_actual == self.vel_anterior):
self.vel_anterior = vel_actual
self.butia.set2MotorSpeed(str(vel_actual[0]), str(vel_actual[1]), str(vel_actual[2]), str(vel_actual[3]))
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