Référence de la classe bornibus.Bornibus

Est dérivée de RobotBehavior.

Fonctions membres publiques
	__init__ (self, manager, *args, timelimit=None, **kwargs)
	make_decision (self)
	goto_procedure (self, destination, thresholds=(None, None))
	set_side (self, side)
	set_position (self)
	positioning (self)
	start_procedure (self)
	stop_procedure (self)

Description détaillée

This class is the main objet of bornibus robot, it contain all the action list and initial configuration to run a match

Args:
    RobotBehavior (class): The main bornibus class inherit from the global robot behaviour in order to have a common behaviour for each robot you want

Documentation des constructeurs et destructeur

__init__()

bornibus.Bornibus.__init__	(		self,
			manager,
		*	args,
			timelimit = None,
		**	kwargs )

The initialisation function create all functional module of the robot. This function also instanciate all the match actions

Args:
    manager (class): One instance of the manager client. It is the client part of th proxy to have access of all the arduino daughter cards
    timelimit (int, optional): The match time limit, usualy set to 100 seconds. Defaults to None.

Documentation des fonctions membres

goto_procedure()

bornibus.Bornibus.goto_procedure	(		self,
			destination,
			thresholds = (None, None) )

The method describe the behaviour to reach an action point, it use the avoidance beahviour class that describe how to avoid an obstacle.

Args:
    destination (tuple): the x, y, theta action point
    thresholds (tuple, optional): The optional precision to reach a point. Defaults to (None, None).

Returns:
    bool: Return True when the robot successfuly reach the desired position false other.

make_decision()

bornibus.Bornibus.make_decision

(

self

)

This function make a decision to choose the next action to play. Today it basically return th next action on list
   /!\ You can describe here you own decision behaviour but the return parameter needs to be the same.

Returns:
    [function pointer, class pointer, tuple, float, float]: This function return the next action procedure pointer,
    a pointer of itself in order the have full robot acess inside procedure method. The destnation tuple and the precision to reach.

positioning()

bornibus.Bornibus.positioning

(

self

)

This optionnal function can be useful to do a small move after setting up the postion during the preparation phase

set_position()

bornibus.Bornibus.set_position

(

self

)

This function apply the starting position of the robot reagading to the choosed side

Voici le graphe des appelants de cette fonction :

set_side()

bornibus.Bornibus.set_side	(		self,
			side )

This function is called during the preparation phase in order to choose the starting side

Args:
    side (int): Yellow or blue

start_procedure()

bornibus.Bornibus.start_procedure

(

self

)

This action is launched at the beggining of the match

Voici le graphe d'appel pour cette fonction :

stop_procedure()

bornibus.Bornibus.stop_procedure

(

self

)

Optionnal function running at the end of match. Usually used to check if the funny action is end

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La documentation de cette classe a été générée à partir du fichier suivant :

• C:/Users/boris/Desktop/robotique/team2024/raspberrypi/robots/bornibus/bornibus.py