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# brain to collect data for offline learning
# robot goes forward and then slows to a stop when it detects something
from pyrobot.brain import Brain
from pyrobot.brain.conx import *
from time import *
def saveListToFile(ls, file):
for i in range(len(ls)):
file.write(str(ls[i]) + " ")
file.write("\n")
class CollectDataBrain(Brain):
def setup(self):
self.counter = 0
self.countstopping = 0
self.datafile1 = open("frontsensors.dat", "w")
self.datafile2 = open("translatetargets.dat", "w")
self.maxvalue = self.robot.range.getMaxvalue()
print "max sensor value is ", self.maxvalue
def determineMove(self, front):
if front[0] < 0.5 or front[1] < 0.5:
print "collision imminent"
self.countstopping = self.countstopping+1
return(0)
elif front[0] < 0.8 or front[1] < 0.8:
print "object detected"
return(0.08)
else:
print "clear"
return(0.15)
def scale(self, val):
x = val / self.maxvalue
if x > 1:
print "scaled > 1"
return 1
else:
return x
def step(self):
front = [s.distance() for s in self.robot.range["front"]]
translation = self.determineMove(front)
print "front sensors", front[0], front[1]
if self.counter > 1000:
self.datafile1.close()
self.datafile2.close()
print "done collecting data"
self.stop()
elif self.countstopping > 5:
self.move(-0.3, 0.2)
sleep(0.5)
self.countstopping = 0
else:
print "move", self.counter, translation
saveListToFile([self.scale(front[0]), self.scale(front[1])],
self.datafile1)
saveListToFile([translation] , self.datafile2)
self.move(translation, 0.0)
self.counter += 1
def INIT(engine):
return CollectDataBrain('CollectDataBrain', engine) |
