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Research Track Assignmengt 1

The task of this assignment was to move the robot in the arena and grab all the silver tokens that comes in the way and relase it side/back and move forward

Pseudocode

  • Initilize the arena

  • initialization of The robot using Robot()

  • Defining all the thresholds for golden token alignement and distances by hit and trial method (calling the function and printing results will give you these thresholds)

  • defining the function for golden token , silver token View , Path alignmengts

  • while 1 check the flag for silver if silver search for silver token and avoid golden token alignment of the robot in the direction of token if no token then turn if dist < thresholds then grab token rotate the robot and release the box

    Move Forward ( search for Silver token)

Run program and Simulator

$ python run.py Assignment_1.py

Run Illustration

When run properly it should work like below

Screenshot from 2021-11-13 13-58-30

Python Robotics Simulator

This is a simple, portable robot simulator developed by Student Robotics. Some of the arenas and the exercises have been modified for the Research Track I course

Installing and running

The simulator requires a Python 2.7 installation, the pygame library, PyPyBox2D, and PyYAML.

Pygame, unfortunately, can be tricky (though not impossible) to install in virtual environments. If you are using pip, you might try pip install hg+https://bitbucket.org/pygame/pygame, or you could use your operating system's package manager. Windows users could use Portable Python. PyPyBox2D and PyYAML are more forgiving, and should install just fine using pip or easy_install.

Troubleshooting

When running python run.py <file>, you may be presented with an error: ImportError: No module named 'robot'. This may be due to a conflict between sr.tools and sr.robot. To resolve, symlink simulator/sr/robot to the location of sr.tools.

On Ubuntu, this can be accomplished by:

  • Find the location of srtools: pip show sr.tools
  • Get the location. In my case this was /usr/local/lib/python2.7/dist-packages
  • Create symlink: ln -s path/to/simulator/sr/robot /usr/local/lib/python2.7/dist-packages/sr/

Exercise

To run one or more scripts in the simulator, use run.py, passing it the file names.

I am proposing you three exercises, with an increasing level of difficulty. The instruction for the three exercises can be found inside the .py files (exercise1.py, exercise2.py, exercise3.py).

When done, you can run the program with:

$ python run.py exercise1.py

You have also the solutions of the exercises (folder solutions)

$ python run.py solutions/exercise1_solution.py

Robot API

The API for controlling a simulated robot is designed to be as similar as possible to the SR API.

Motors

The simulated robot has two motors configured for skid steering, connected to a two-output Motor Board. The left motor is connected to output 0 and the right motor to output 1.

The Motor Board API is identical to that of the SR API, except that motor boards cannot be addressed by serial number. So, to turn on the spot at one quarter of full power, one might write the following:

R.motors[0].m0.power = 25
R.motors[0].m1.power = -25

The Grabber

The robot is equipped with a grabber, capable of picking up a token which is in front of the robot and within 0.4 metres of the robot's centre. To pick up a token, call the R.grab method:

success = R.grab()

The R.grab function returns True if a token was successfully picked up, or False otherwise. If the robot is already holding a token, it will throw an AlreadyHoldingSomethingException.

To drop the token, call the R.release method.

Cable-tie flails are not implemented.

Vision

To help the robot find tokens and navigate, each token has markers stuck to it, as does each wall. The R.see method returns a list of all the markers the robot can see, as Marker objects. The robot can only see markers which it is facing towards.

Each Marker object has the following attributes:

  • info: a MarkerInfo object describing the marker itself. Has the following attributes:
    • code: the numeric code of the marker.
    • marker_type: the type of object the marker is attached to (either MARKER_TOKEN_GOLD, MARKER_TOKEN_SILVER or MARKER_ARENA).
    • offset: offset of the numeric code of the marker from the lowest numbered marker of its type. For example, token number 3 has the code 43, but offset 3.
    • size: the size that the marker would be in the real game, for compatibility with the SR API.
  • centre: the location of the marker in polar coordinates, as a PolarCoord object. Has the following attributes:
    • length: the distance from the centre of the robot to the object (in metres).
    • rot_y: rotation about the Y axis in degrees.
  • dist: an alias for centre.length
  • res: the value of the res parameter of R.see, for compatibility with the SR API.
  • rot_y: an alias for centre.rot_y
  • timestamp: the time at which the marker was seen (when R.see was called).

For example, the following code lists all of the markers the robot can see:

markers = R.see()
print "I can see", len(markers), "markers:"

for m in markers:
    if m.info.marker_type in (MARKER_TOKEN_GOLD, MARKER_TOKEN_SILVER):
        print " - Token {0} is {1} metres away".format( m.info.offset, m.dist )
    elif m.info.marker_type == MARKER_ARENA:
        print " - Arena marker {0} is {1} metres away".format( m.info.offset, m.dist )