CORN_HEIGHT=5 # 150
ROBOT_WIDTH=320
-ROBOT_LENGTH=360
+ROBOT_LENGTH=250
area = [ (0.0, 0.0, -0.2), (3000.0, 2100.0, 0.2) ]
areasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , area)
robot_x = 0.
robot_y = 0.
robot_a = 0.
-robot_lspickle = 0
-robot_rspickle = 0
+robot_lspickle_deployed = 0
+robot_rspickle_deployed = 0
+robot_lspickle_autoharvest = 0
+robot_rspickle_autoharvest = 0
robot_trail = curve()
robot_trail_list = []
max_trail = 500
robot.axis = axis
robot.size = (ROBOT_LENGTH, ROBOT_WIDTH, ROBOT_HEIGHT)
- robot_lspickle = 2 # XXX
- lspickle.pos = (tmp_x + (robot_lspickle*60) * math.cos((tmp_a+90)*math.pi/180),
- tmp_y + (robot_lspickle*60) * math.sin((tmp_a+90)*math.pi/180),
+ lspickle.pos = (tmp_x + (robot_lspickle_deployed*60) * math.cos((tmp_a+90)*math.pi/180),
+ tmp_y + (robot_lspickle_deployed*60) * math.sin((tmp_a+90)*math.pi/180),
ROBOT_HEIGHT/2)
lspickle.axis = axis
lspickle.size = (20, ROBOT_WIDTH, 5)
+ if robot_lspickle_autoharvest:
+ lspickle.color = (1, 0, 0)
+ else:
+ lspickle.color = (0.4, 0.4, 0.4)
- robot_rspickle = 2 # XXX
- rspickle.pos = (tmp_x + (robot_rspickle*60) * math.cos((tmp_a-90)*math.pi/180),
- tmp_y + (robot_rspickle*60) * math.sin((tmp_a-90)*math.pi/180),
+ rspickle.pos = (tmp_x + (robot_rspickle_deployed*60) * math.cos((tmp_a-90)*math.pi/180),
+ tmp_y + (robot_rspickle_deployed*60) * math.sin((tmp_a-90)*math.pi/180),
ROBOT_HEIGHT/2)
rspickle.axis = axis
rspickle.size = (20, ROBOT_WIDTH, 5)
+ if robot_rspickle_autoharvest:
+ rspickle.color = (1, 0, 0)
+ else:
+ rspickle.color = (0.4, 0.4, 0.4)
# save position
save_pos.append((robot.pos.x, robot.pos.y, tmp_a))
side = int(m.groups()[0])
flags = int(m.groups()[1])
if side == 0:
- if (flags & 0x01) == 0:
- robot_lspickle = 1
- else:
- robot_lspickle = 2
+ robot_lspickle_deployed = ((flags & 1) * 2)
+ robot_lspickle_autoharvest = ((flags & 2) != 0)
else:
- if (flags & 0x01) == 0:
- robot_rspickle = 1
- else:
- robot_rspickle = 2
+ robot_rspickle_deployed = ((flags & 1) * 2)
+ robot_rspickle_autoharvest = ((flags & 2) != 0)
if scene.kb.keys == 0:
continue