AREA_X = 3000.
AREA_Y = 2100.
+ROBOT_HEIGHT=5 # 350
+CORN_HEIGHT=5 # 150
+
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)
area_box = box(size=areasize, color=(0.0, 1.0, 0.0))
# all positions of robot every 5ms
save_pos = []
-robot = box(pos = (0, 0, 150),
- size = (250,320,350),
+robot = box(pos = (0, 0, ROBOT_HEIGHT/2),
+ size = (250,320,ROBOT_HEIGHT),
color = (0.3, 0.3, 0.3) )
last_pos = robot.pos.x, robot.pos.y, robot.pos.z
while y < 2100:
print x,y
if waypoints[i][j] == TYPE_WHITE_CORN:
- c = cylinder(axis=(0,0,1), length=150,
+ c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
radius=25, color=(0.8,0.8,0.8),
- pos=(x-AREA_X/2,y-AREA_Y/2,75))
+ pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
area_objects.append(c)
elif waypoints[i][j] == TYPE_BLACK_CORN:
- c = cylinder(axis=(0,0,1), length=150,
+ c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
radius=25, color=(0.2,0.2,0.2),
- pos=(x-AREA_X/2,y-AREA_Y/2,75))
+ pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
area_objects.append(c)
elif waypoints[i][j] == TYPE_BALL:
c = sphere(radius=50, color=(1., 0.,0.),
global robot, last_pos, robot_trail, robot_trail_list
global save_pos
- robot.pos = (x - AREA_X/2, y - AREA_Y/2, 150)
+ robot.pos = (x - AREA_X/2, y - AREA_Y/2, ROBOT_HEIGHT/2)
robot.axis = (math.cos(a*math.pi/180),
math.sin(a*math.pi/180),
0)
- robot.size = (250, 320, 350)
+ robot.size = (250, 320, ROBOT_HEIGHT)
# save position
save_pos.append((robot.pos.x, robot.pos, a))