New robot shape
parent
31c036f68b
commit
ddc8b023d4
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@ -21,7 +21,7 @@
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var simInfo = {
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maxSteps: 50000, // maximal number of simulation steps to run
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airDrag: 0.1, // "air" friction of enviroment; 0 is vacuum, 0.9 is molasses
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boxFric: 0.005, // friction between boxes during collisions
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boxFric: 0.001, // friction between boxes during collisions
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boxMass: 0.01, // mass of boxes
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boxSize: 10, // size of the boxes, in pixels
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robotSize: 13, // approximate robot radius, in pixels (note the SVG gets scaled down)
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@ -30,25 +30,20 @@ var simInfo = {
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bayScale: 2, // scale within 2nd, inset canvas showing robot in it's "bay"
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debugSensors: true, // plot sensor rays and mark detected objects
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debugMouse: true, // allow dragging any object with the mouse
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wanderRate: 0.0002,
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};
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class Lemming extends Robot {
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constructor(props) {
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super(Object.assign({
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sensors: [
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new DistanceSensor('distR', {
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attachAngle: Math.PI/(2.5), // where the sensor is mounted on robot body
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color: [150, 0, 0], // sensor color [in RGB], to distinguish them
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lookAngle: (Math.PI/7 - Math.PI/(2.5)),
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attachRadius: 20
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}),
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// define another sensor
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new DistanceSensor('distL', {
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new DistanceSensor('dist', {
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attachAngle: -Math.PI/7,
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color: [0, 150, 0],
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attachRadius: 20
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attachRadius: 20,
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lookAngle: Math.PI/4,
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}),
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new Gyroscope('gyro', {
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attachAngle: 0,
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attachRadius: 5,
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color: [100,100,0]
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}),
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@ -60,33 +55,26 @@ class Lemming extends Robot {
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dist: 5,
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width: 15,
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}),
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new DistanceSensor('wallR', {
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attachAngle: Math.PI/2.5, // where the sensor is mounted on robot body
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color: [150, 0, 0], // sensor color [in RGB], to distinguish them
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filter: x => x.role == 'wall',
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lookAngle: (Math.PI/7 - Math.PI/2.5),
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attachRadius: 20,
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}),
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// define another sensor
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new DistanceSensor('wallL', {
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new DistanceSensor('wall', {
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attachAngle: -Math.PI/7,
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color: [0, 150, 0],
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filter: x => x.role == 'wall',
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attachRadius: 20
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filter: x => x.role != 'box',
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attachRadius: 20,
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lookAngle: Math.PI/4,
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}),
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].concat(props.sensors || [])
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}, props))
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}
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turnDeg(rads, cb) {
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if (Math.abs(rads) >= 320)
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return this.turnDeg(320, x => this.turnDeg(rads -320, cb))
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const torque = Math.sign(rads) * 0.01
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turnDeg(degs, cb) {
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if (Math.abs(degs) >= 320)
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return this.turnDeg(320, x => this.turnDeg(degs -320, cb))
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const torque = Math.sign(degs) * 0.002
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const start = this.getSensorValById('gyro')
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this.move = function() {
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const curAngle = this.getSensorValById('gyro')
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const turned = ((curAngle - start) * Math.sign(rads) + 360) % 360
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if (turned < 340 && (turned - Math.abs(rads) > 0)) {
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const turned = ((curAngle - start) * Math.sign(degs) + 360) % 360
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if (turned < 340 && (turned - Math.abs(degs) > 0)) {
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delete this.move
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if (cb) cb()
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} else {
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@ -97,7 +85,7 @@ class Lemming extends Robot {
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move() {
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//if (sim.curSteps % 250 == 0) this.turnDeg(-90)
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// TODO: Define Lemming program here.
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const {carry: [r,g,b], distL, distR, wallL, wallR} = this.getSensors()
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const {carry: [r,g,b], dist, wall} = this.getSensors()
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let block = 0
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if (r > (g+b)) {
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block = 'red'
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@ -105,13 +93,13 @@ class Lemming extends Robot {
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block = 'blue'
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}
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this.block = block
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if (distL < wallL - 5 || distR < wallR - 5) {
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if (dist < wall - 5) {
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this.state = 'block'
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// if it senses a block
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if (!block) return this.drive(2e-4) // no block: drive towards block?
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if (block == 'blue') void 0; // if blue: ignore
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if (block == 'red') return this.turnDeg(-90) // if red: leave block
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} else if (wallL < Infinity || wallR < Infinity) {
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} else if (wall < Infinity) {
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this.state = 'wall'
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// no block: turn left or right
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if (!block) return this.turnDeg(90 * (Math.random() < 0.5 ? -1 : 1))
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@ -121,14 +109,16 @@ class Lemming extends Robot {
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this.state = 'nothing'
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}
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// by default: wander
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this.rotate(+0.001);
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this.rotate(simInfo.wanderRate);
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this.drive(0.0002);
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}
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getDisplay() {
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return "carrying " + this.block + "\nseeing " + this.state
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return "carrying " + (this.block || "no") + " block seeing " + this.state
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}
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}
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var sim = null
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var resultsTable = null
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let sim_id_counter = 0
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class Simulation {
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constructor() {
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this.bay = null
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@ -139,6 +129,7 @@ class Simulation {
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this.curSteps = 0
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this.doContinue = false
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this.robots = []
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this.id = sim_id_counter++
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}
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init() {
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const arena = document.getElementById("arenaLemming"),
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@ -229,7 +220,7 @@ class Simulation {
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padnumber(simInfo.maxSteps, 5);
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}
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else {
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this.toggle()
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this.stop()
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}
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}
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draw() {
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@ -13,13 +13,13 @@
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version="1.1"
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x="0px"
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y="0px"
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width="239.8282"
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height="186.78011"
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viewBox="0 0 239.8282 186.78011"
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width="300"
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height="300"
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viewBox="0 0 300 300"
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xml:space="preserve"
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id="svg11"
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sodipodi:docname="robotbody_noright.svg"
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inkscape:version="0.92.2 (unknown)"><metadata
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sodipodi:docname="robotbody.svg"
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inkscape:version="0.92.2 (5c3e80d, 2017-08-06)"><metadata
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id="metadata17"><rdf:RDF><ns:Work
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rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></ns:Work><cc:Work
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@ -34,32 +34,32 @@
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guidetolerance="10"
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inkscape:pageopacity="0"
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inkscape:pageshadow="2"
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inkscape:window-width="1920"
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inkscape:window-height="1016"
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inkscape:window-width="2225"
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inkscape:window-height="1736"
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id="namedview13"
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showgrid="false"
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inkscape:zoom="1.5742187"
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inkscape:cx="193.78259"
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inkscape:cy="72.49728"
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inkscape:window-x="0"
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inkscape:window-y="27"
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inkscape:window-maximized="1"
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inkscape:cx="256.30163"
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inkscape:cy="152.71994"
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inkscape:window-x="963"
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inkscape:window-y="52"
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inkscape:window-maximized="0"
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inkscape:current-layer="svg11"
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showguides="true"
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inkscape:guide-bbox="true"
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inkscape:snap-center="true"
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inkscape:snap-page="true"
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inkscape:snap-global="false"><sodipodi:guide
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position="87.480965,95.186771"
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position="150,150"
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orientation="1,0"
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id="guide863"
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inkscape:locked="false" /><sodipodi:guide
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position="87.480965,95.186771"
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position="150,150"
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orientation="0,1"
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id="guide867"
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inkscape:locked="false" /></sodipodi:namedview><path
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id="robotbody"
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d="m 21.840805,32.282261 c -29.4070742,38.075324 -29.2031002,89.304329 1.126302,124.879399 28.308167,33.20432 96.216923,41.60047 129.034143,9.08347 18.43503,-12.80861 9.62964,-4.23612 16.52932,-15.43367 4.97497,-8.07393 7.20296,-16.17729 7.39509,-18.53562 2.47109,-30.33143 1.21949,-67.484605 -2.03551,-83.758545 -0.8545,-4.27227 74.1647,3.74803 65.19284,-6.66691 C 229.23764,30.421398 158.23428,27.099346 155.90436,24.175764 133.57052,-3.8490539 58.313014,-14.940787 21.840805,32.282261 Z"
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d="m 88.171256,119.27453 c -29.407074,38.07533 -33.014515,60.71872 -2.685113,96.29379 55.938447,12.90349 100.292307,13.25531 121.424507,-19.69014 -3.18086,-13.76064 -74.25605,-18.32839 54.67152,-94.9859 -49.03531,-7.370402 -134.17651,15.5306 -173.410914,18.38225 z"
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inkscape:connector-curvature="0"
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sodipodi:nodetypes="sscssssss"
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sodipodi:nodetypes="ccccc"
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style="stroke-width:0.99999988" /></svg>
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Before Width: | Height: | Size: 2.8 KiB After Width: | Height: | Size: 2.5 KiB |
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@ -10,7 +10,8 @@ class Sensor {
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value: null,
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valueStr: "<uninit>",
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minVal: 0,
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maxVal: 50
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maxVal: 50,
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attachAngle: 0,
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}, props)
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this.info = this
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this.setAngle(this.attachAngle)
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