ROBOT_HEIGHT=5 # 350
CORN_HEIGHT=5 # 150
+ROBOT_WIDTH=320
+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)
area_box = box(size=areasize, color=(0.0, 1.0, 0.0))
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
0)
robot.axis = axis
- robot.size = (250, 320, ROBOT_HEIGHT)
+ robot.size = (ROBOT_LENGTH, ROBOT_WIDTH, ROBOT_HEIGHT)
- 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, 320, 5)
+ lspickle.size = (20, ROBOT_WIDTH, 5)
+ if robot_lspickle_autoharvest:
+ lspickle.color = (1, 0, 0)
+ else:
+ lspickle.color = (0.4, 0.4, 0.4)
- 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, 320, 5)
+ 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))
# parse cobboard
if not m:
- m = re.match("cobboard=%s"%(INT), l)
+ m = re.match("cobboard=%s,%s"%(INT,INT), l)
if m:
- mode = int(m.groups()[0])
- if (mode & 0x01) == 0:
- robot_lspickle = 0
- elif (mode & 0x02) == 0:
- robot_lspickle = 1
- else:
- robot_lspickle = 2
- if (mode & 0x04) == 0:
- robot_rspickle = 0
- elif (mode & 0x08) == 0:
- robot_rspickle = 1
+ print "cobboard: %x,%x"%(int(m.groups()[0]),int(m.groups()[1]))
+ side = int(m.groups()[0])
+ flags = int(m.groups()[1])
+ if side == 0:
+ robot_lspickle_deployed = ((flags & 1) * 2)
+ robot_lspickle_autoharvest = ((flags & 2) != 0)
else:
- robot_rspickle = 2
+ robot_rspickle_deployed = ((flags & 1) * 2)
+ robot_rspickle_autoharvest = ((flags & 2) != 0)
if scene.kb.keys == 0:
continue