Robot on the plaid field
- Requirements
- Installation
- Robot
- RobotOrt
- RobotRot
- Basic usage
- Usage with python command line
- Working with the interface
- Bug
- Python 3.6.x
- tkinter (include in the standard Python distribution)
- numpy
- matplotlib
You should use command line terminal.
First variant. Clone repo and go to the package dir
git clone https://github.com/Sherevv/robot.git robot
cd robot
and execute command:
python setup.py install
or
pip install .
Second variant. Remote using pip:
pip install git+https://github.com/Sherevv/robot.git
r = Robot()
r = Robot( mapfile )
r = Robot( delay=0.5 ) or r = Robot(None, 0.5 )
In the 1st case, the standard dialog box opens for in case of failure, the file selection dialog opens for definition of field options
In the 2nd case:
mapfile- the name of the file where the field map is stored
In the 3rd case:
delay- the time delay during animation (defaults to0.5seconds)
step(side) - moves robot on one step to the set side
mark() - puts a marker in the current cell
is_mark() - check if marker exists in the current cell
is_bord(side) - check if border exists in the set side
get_tmpr() - returns value of temperature in the current cell
side can use values 'n', 's', 'w', 'o' respectively North, South, West, East
The RobotOrt class, each object of this class represents an executor of a "oriented robot on a cellular field" The direction of travel, turns and check for obstacles are set on:
- step forward;
- turn left;
- turn right;
- check if there is an wall right on the course.
forward() - move the robot forward to the next cell
right() - turn the robot to the right
left() - turn the robot to the left
is_bord() - check if there is an wall right on the course.
get_side() - get the current direction of the robot
Methods mark(), is_mark(), get_tmpr() - correspond to the Robot class methods
It differs from the RobotOrt class in that instead of two methods left and
right the RobotOrt class has only one method rot, but with a parameter,
which can have 3 values: 'left', 'right', 'back' (or 'l', 'r','b')
and also because the is_bord method has a parameter that can
accept also 3 values: 'forward', 'left', 'right'
rot(side) - turn the robot left, right or back
is_bord(side) - check if border exists in the side
The other methods are the same as in the RobotOrt class.
Create script, example start.py
from robot import Robot, RobotOrt, RobotRot
r = Robot() # Robot create
if not r.is_mark(): # Check if current cell is marked
r.mark() # Mark cell
if not r.is_bord('w'): # Check if border exists in West side
r.step('w') # Move to West
print(r.get_tmpr()) # Print temperature in current cell
ro = RobotOrt() # Create orient robot
if not ro.is_bord(): # Check if border exists in front of robot
ro.forward() # Move forward
ro.right() # Turn robot right
if not ro.is_bord(): # Check if border exists in front of robot
ro.forward() # Move forward
print(ro.get_side()) # Print robot orientation
rt = RobotRot() # Create orient robot
if not rt.is_bord('forward'): # Check if border exists in front of robot
rt.forward() # Move forward
if not rt.is_bord('right'): # Check if border exists to the right of robot
rt.rot('r') # Turn robot right
rt.forward() # Move forward
print(rt.get_side()) # Print robot orientation
input() # to prevent close plot windowthen execute script
python start.py
Prepare script with function (myfunc.py):
def walk_to_bord(r, side):
"""
The robot goes until it meets the wall in the specified direction
:param r: robot object
:param side: move side
"""
while not r.is_bord(side):
r.step(side)then run python command line
python
>>> from robot import Robot
>>> from myfunc import walk_to_bord
>>> r = Robot()
>>> walk_to_bord(r, 'o')
When creating a robot instance, a window with a field and a robot appears:
Change ( install or edit ) the initial situation on the field, you can use the mouse:
- click on a cell to set a marker
- click on the marker to delete the marker
- click on the dotted grid line of the checkered field sets partition
- clicking on the partition removes the partition
- click on the robot and move the mouse when the key is left moves the robot after the cursor to the desired cell (a" faulty "robot can also be "repaired" this way )
After any number of such actions you should save field state, after that the robot is ready for the command management
The window has buttons to control the field and its state, they can be controlled from the keyboard.
- add one column to the field (key w)
- remove one column from the field (key e)
- add one row to the field (key h)
- remove one row from the field (key j)
- removes all borders (ctrl + b)
- remove all markers (ctrl + m)
- add/delete the outer frame of the field (key b)
- show/hide the temperature of the cell (key t)
- enable/disable time delay and animation effects (key d)
- restore state of the field from file (key r)
- save state of the field to file (without save dialog)(key s)
- save state of the field to file (ctrl + s)
- load state of the field from file (ctrl + l)
The main keys to control the field are listed above.
In addition, the following combinations work:
ctrl + '+' - increases the time delay by 2 times
ctrl + '-' - reduces the time delay by half
ctrl + r - moves the robot to the lower left corner
There is a class for the "bug in the maze" problem (original problem here). Initially, the bug is in the upper left corner, the output is in the lower right cell. The bug moves independently in search of an exit by a certain algorithm. It is necessary to build a maze in which the bug will wander as long as possible. There must be a way to the exit, and the field must have an outer frame.
Usage:
from robot.bug import Bug
b = Bug('bug.map', delay=0.0001) # or just Bug()
b.go() # start bug walking
input() # to prevent close plot window