Contents

# navigate.rbt

# Make a behavior to go forward, slowing when we approach an obstacle.

behavior :go => [:max_speed, :stop_distance] do
  sensors :sonar
  
  fire do
    range = sonar.range(-70,70) - robot.radius
    if range > stop_distance
      speed = range * 0.3
      speed = max_speed if (speed > max_speed)
      desired.velocity = speed
    else
      desired.velocity = 0
    end
  end
end


# Make another behavior to turn us around objects we can avoid.

behavior :turn => [:turn_threshold, :turn_amount] do
  sensors :sonar
  
  fire do
    # Get the left readings and right readings off of the sonar
    left_range = sonar.range(0,100) - robot.radius
    right_range = sonar.range(-100,0) - robot.radius
    if left_range > turn_threshold && right_range > turn_threshold
      # if neither left nor right range is within the turn threshold,
      # reset the turning variable and don't turn
      turn_direction = nil
      desired.delta_heading = 0;
    else
      turn_direction ||= (left_range < right_range ? :left : :right)
      desired.delta_heading = turn_amount * ( turn_direction == :left ? -1 : 1 )
    end
  end
end


# Set up a robot.

robot :fred do
  adapter :aria
  host 'localhost'
  
  sensors :sonar
  
  behaviors do
    go :priority => 50, :max_speed => 240, :stop_distance => 300
    turn :priority => 49, :turn_threshold => 400, :turn_amount => 10
  end
end


# Run it.

run :fred

Version data entries

1 entries across 1 versions & 1 rubygems

Version	Path
Peeja-rubot-0.5.0	examples/navigate.rbt