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from pyrobot.brain import Brain
class WallFollow(Brain):
# follows walls on its left, ignores sonar sensors on its right
def wallFollow(self, dist):
frontLeft = self.robot.sonar[0][0].distance()
backLeft = self.robot.sonar[0][15].distance()
front = min([s.distance() for s in self.robot.sonar[0][2:6]])
if front < dist:
print "wall in front"
self.move(0,-0.5)
elif (frontLeft < dist or backLeft < dist):
print "following:",
if frontLeft < backLeft:
print "turn slight away"
self.move(0.3,-0.1)
else:
print "turn slight toward"
self.move(0.3,0.1)
else:
print "find wall"
self.move(0.3,0)
def step(self):
self.wallFollow(1)
def INIT(engine):
return WallFollow('WallFollow', engine) |
