Example Project Layout for Hills Road Robotics

hollsrobot.py

import communications
import solution_set
import SR


"""
Hills Robot (Hobo) Class, this should be the end point for all competition code
"""
class Hobo(object):

  """
    Hobo class constructor
  """
  def __init__(self, config):
    # set up config, camers, communications etc
    pass

  """
  Drive forward `distance` meters

  distance: int: the distance to drive in meters

  returns void
  """
  def forward(self, distance):
    pass


  """
  Drive backward `distance` meters

  distance: int: the distance to drive in meters

  returns void
  """
  def backward(self, distance):
    pass


  
  def turnBy(self, degrees):
    pass

  def turnTo(self, degrees):
    pass

  def findMarkers(self, degrees):
    pass

  def hasTimeLeft(self):
    pass

  def getWeightedMarkersWithSolution(self):
    pass

  def driveAlignWith(self, marker):
    pass

  def pickUpCube(self):
    pass

  def canSeeMarker(self, marker):
    pass

  def sendSolutionSetToArms(self, solution_set):
    pass

  def tryFacingHome(self):
    pass

  def canSeeHomeZone(self):
    pass

  def driveToHome(self):
    pass

  def dropCubes(self):
    pass

robot.py

from hillsrobot import Hobo

if __name__ == "__main__":
  # Main

  R = Hobo({
    "res": [1024, 768],
    "testing": {
      "zone": 1
      "zone-facing": 120 # degrees
    }
  })

  R.forward(4) #go to center cube (assumes facing forward)
  R.turnBy(-90)  # point towards arena

  while R.hasTimeLeft():

    marker_solution_sets = R.getWeightedMarkersWithSolution();

    if not marker_solution_sets:
      R.turnBy(45) #degrees

    else :
      firstMarker = marker_solution_sets[0]

      R.driveAlignWith(firstMarker)

      R.pickUpCube()

      R.reverse(2);

      if not R.canSeeMarker(firstMarker.marker_id):
        R.sendSolutionSetToArms(firstMarker)

        if len(marker_solution_sets) > 1:
          secondMarker = marker_solution_sets[1]

          R.turnBy(secondMarker.getSimplifedAngle) # either 45 or -45

          marker_solution_sets = R.getWeightedMarkersWithSolution()

          # ... TBC

  
  # Running out of time

  R.tryFacingHome()

  if R.canSeeHomeZone():
    R.driveToHome()

  else:
    while not R.canSeeHomeZone():
      R.drive(1)


  R.dropCubes()

  R.party() #!