{"id":3136,"date":"2022-11-23T09:55:33","date_gmt":"2022-11-23T00:55:33","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3136"},"modified":"2022-11-23T09:55:33","modified_gmt":"2022-11-23T00:55:33","slug":"btr2022%e3%81%ae%e8%a7%a3%e8%aa%ac%ef%bc%88game2022-py%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3136","title":{"rendered":"BTR2022\u306e\u89e3\u8aac\uff08game2022.py\uff09"},"content":{"rendered":"

\u307e\u305a\u306f\uff0c\u308f\u304b\u308a\u3084\u3059\u3044\u65b9\u304b\u3089\uff0e
\n\u30b2\u30fc\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3068\u304d\u306b\uff0cgame2022.py \u3092\u4f7f\u3044\u307e\u3059\uff0e<\/p>\n

\u4ee5\u4e0b\uff0c\u982d\u304b\u3089\u898b\u305f\u69cb\u6210\u3067\u3059\uff0e<\/p>\n

\r\n#!\/usr\/bin\/python\r\nTEAMNAME = "BabyTigers"\r\n\r\nFIELDMINX = -5\r\nFIELDMAXX = -1\r\nFIELDMINY =  1\r\nFIELDMAXY =  5\r\nFIELDSIZEX = (FIELDMAXX - FIELDMINX) + 1\r\nFIELDSIZEY = (FIELDMAXY - FIELDMINY) + 1\r\nFIELDSIZE = FIELDSIZEX * FIELDSIZEY\r\nMAXSTEP = 999\r\n<\/pre>\n
\u6700\u521d\u306b\u5b9a\u6570\u3092\u5b9a\u7fa9\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u30c1\u30fc\u30e0\u540d\u3068\u7d4c\u8def\u63a2\u7d22\u7528\u306e\u60c5\u5831\u3067\u3059\uff0e
\n\u4eca\u306f\u95a2\u4fc2\u3057\u307e\u305b\u3093\u306e\u3067\uff0c\u8aad\u307f\u98db\u3070\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u305d\u306e\u6b21\u306bimport \u95a2\u4fc2\u304c\u4e26\u3093\u3067\u3044\u307e\u3059\uff0e
\n\uff08\u672c\u5f53\u306f\uff0c\u5b9a\u6570\u3088\u308a\u3082\u5148\u306b\u66f8\u304f\u3079\u304d\u306a\u306e\u304b\u3082\u2026\uff0e\u3042\u3068\u3067\u9806\u756a\u3092\u5165\u308c\u66ff\u3048\u307e\u3059\uff09
\n\u3053\u3053\u3082\uff0c\u4eca\u306f\u8aad\u3080\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\uff0e
\n\u305d\u306e\u5f8c\uff0c\u518d\u5ea6\uff0c\u7d4c\u8def\u7528\u306e\u5b9a\u6570\uff08\u914d\u5217\u5909\u6570\uff09\u304c\u4e26\u3093\u3067\u3044\u307e\u3059\u304c\uff0c\u3053\u3053\u3082\u8aad\u307f\u98db\u3070\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n
\r\ndef goToPoint(x, y, theta):\r\ndef moveRobotino(x, y, theta):\r\ndef goToInputVelt(): # original position is 355 (= 5 + 50*7)\r\ndef goToOutputVelt(): # original position is 305 (= 5 + 50*6)\r\ndef goToMPSCenter(distance):\r\ndef turnClockwise():\r\ndef turnCounterClockwise():\r\ndef getWork():\r\ndef putWork():\r\n<\/pre>\n
Robotino \u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u6614\u306e\u30b3\u30fc\u30c9\u3067\u3059\uff0e
\n\u4eca\u306f\u4f7f\u3063\u3066\u3044\u307e\u305b\u3093\uff0e
\n\u3053\u306e\u524d\u307e\u3067\u306frobotino2022.py\u3067\uff0c\u4eca\u306fbtr2022.py\u3067\u6271\u3046\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u306e\u3061\u307b\u3069\uff0c\u524a\u9664\u3057\u307e\u3059\uff0e<\/p>\n
\r\ndef beaconSignal(data):\r\ndef explorationInfo(data):\r\ndef gameState(data):\r\ndef machineInfo(data):\r\ndef machineReportInfo(data):\r\ndef orderInfo(data):\r\ndef ringInfo(data):\r\ndef navigationRoutes(data):\r\ndef sendBeacon():\r\ndef sendMachineReport(report):\r\ndef sendPrepareMachine(data):\r\n<\/pre>\n
RefBox \u3068\u306e\u901a\u4fe1\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\uff0e\u8aad\u307f\u98db\u3070\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
\r\ndef robotinoOdometry(data):\r\ndef robotinoVelocity(data):\r\n<\/pre>\n
RobView\u3092\u4f7f\u3063\u3066\u3044\u305f\u6642\u306e\u30bd\u30fc\u30b9\u3067\u3059\uff0e
\nOdometry\u306fRefBox\u306bBeacon\u3092\u9001\u308b\u306e\u306b\u5fc5\u8981\u306a\u306e\u3067\uff0c\u3042\u3068\u3067\u4fee\u6b63\u3057\u307e\u3059\uff0e
\nVelocity\u306f\uff0c\u73feRobotino\u7528\u306eROS\u3060\u3068\uff0c\u53d6\u3063\u3066\u3053\u308c\u307e\u305b\u3093\uff08\u5fc5\u8981\u304b\u306a\u3041\uff1f\uff09<\/p>\n
\r\ndef startGrasping():\r\n<\/pre>\n
Grasping\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\uff0e
\n\u4e00\u90e8\uff08\u30ef\u30fc\u30af\u306e\u628a\u6301\u3068MPS\u5468\u308a\u306e\u56de\u8ee2\uff09\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u672c\u30bd\u30fc\u30b9\u3092\u53c2\u7167\u3059\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u306e\u3067\uff0c\u3042\u3068\u3067\u4fee\u6b63\u3057\u307e\u3059\uff0e<\/p>\n
\r\ndef initField():\r\ndef setField(x, y, number):\r\ndef getField(x, y):\r\ndef zoneToPose2D(zone):\r\ndef setMPStoField():\r\ndef getStep(x, y):\r\ndef wallCheck(x, y, dx, dy):\r\ndef getNextDirection(x, y):\r\ndef makeNextPoint(destination):\r\n<\/pre>\n
\u7d4c\u8def\u9078\u629e\u7528\u306e\u95a2\u6570\u3067\u3059\uff0e<\/p>\n
\r\ndef getNextPoint(pointNumber):\r\ndef startNavigation():\r\n<\/pre>\n
Navigation\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\uff0e
\nRefBox \u304b\u3089\u53d7\u3051\u53d6\u3063\u305f\u300c\u672a\u5230\u9054\u306eMPS\u30ea\u30b9\u30c8\u300d\u306e\u5148\u982d\u306e\u30be\u30fc\u30f3\u306b\u5bfe\u3057\u3066\uff0c\u7d4c\u8def\u3092\u69cb\u7bc9\u3057\uff0c\u4e00\u3064\u305a\u3064\u9032\u3080\uff08\u7e26\u6a2a\u306e\u30de\u30b9\u76ee\u306b\u5f93\u3063\u3066\u9032\u3080\uff09\u5f62\u3067\u3059\uff0e<\/p>\n
\n
\r\n# main\r\n#\r\nif __name__ == '__main__':\r\n<\/pre>\n
\u3053\u3053\u304b\u3089\u304cmain\u95a2\u6570\u3067\u3059\u3000\u2190\u3000\u3053\u3053\u3092\u6700\u521d\u306b\u898b\u308d\u3068\u8a00\u3046\u58f0\u3082\u30a2\u30ea\uff0e<\/p>\n
\r\n  args = sys.argv\r\n  if (len(args) >= 2):\r\n    challenge = args[1]\r\n    if (len(args) >= 3):\r\n      robotNum = int(args[2])\r\n    else:\r\n      robotNum = 1\r\n<\/pre>\n
\u5f15\u6570\u3068\u3057\u3066\uff0c1\u3064\u76ee\u304cchallenge\u540d\uff0c2\u3064\u76ee\u304c\u30ed\u30dc\u30c3\u30c8\u756a\u53f7\u3067\u3059\uff08\u7701\u7565\u3057\u305f\u30891\uff09\uff0e
\nRefBox \u3084ROS\u95a2\u4fc2\u306e\u521d\u671f\u8a2d\u5b9a\u304c\u3042\u308a\uff0c<\/p>\n
\r\n  btrRobotino = btr2022.btr2022()\r\n\r\n  pose = Pose2D()\r\n  pose.x = -1000 * robotNum - 1500\r\n  pose.y = 500\r\n  pose.theta = 90\r\n<\/pre>\n
btr2022.py \u3092btrRobotino\u3068\u3057\u3066\u6301\u3063\u3066\u304d\u3066\u3044\u307e\u3059\uff0e
\n\u521d\u671f\u5ea7\u6a19\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u6295\u5165\u53e3\u3067\u3059\uff0e
\n1\u53f0\u76ee\u306f\uff08-2500,500,90\uff09\uff0c2\u53f0\u76ee\u306f\uff08-3500,500,90\uff09\uff0c3\u53f0\u76ee\u306f\uff08-4500,500,90\uff09\u3068\u306a\u308a\u307e\u3059\uff0e
\n\u203b\u30c1\u30fc\u30e0\u30ab\u30e9\u30fc\u3092\u898b\u3066\u3044\u306a\u3044\u6c17\u304c\u3059\u308b\uff0eMagenta\u306e\u6642\u306f\u53cd\u8ee2\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u306d\uff0e<\/p>\n
\r\n  if (challenge == "grasping"):\r\n      startX =     [ -500, -4500, -500]\r\n      startY =     [  500,  1500, 4500]\r\n      startTheta = [   90,    90,  180]\r\n      pose.x = startX[robotNum - 1]\r\n      pose.y = startY[robotNum - 1]\r\n      pose.theta = startTheta[robotNum - 1]\r\n  if (challenge == "driving" or challenge == "positioning"):\r\n      pose.x = zoneX["S31"]\r\n      pose.y = zoneY["S31"]\r\n      pose.theta = 90\r\n  print(pose.x, pose.y, pose.theta)\r\n  if (challenge == "reset"):\r\n      # goToPoint(-800, -1500, 90)\r\n      goToPoint(pose.x, pose.y, pose.theta)\r\n      exit()\r\n<\/pre>\n
\u5148\u307b\u3069\u306e\u5ea7\u6a19\u306fMain Track\u7528\u3067\u3059\u306e\u3067\uff0cchallenge\u7528\u306e\u5ea7\u6a19\u3092\u500b\u5225\u306b\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e
\n\uff08\u7b2c\u4e00\u5f15\u6570\u306breset\u3092\u3044\u308c\u308b\u3068\uff0c\u3068\u308a\u3042\u3048\u305a\u521d\u671f\u4f4d\u7f6e\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u76f4\u7dda\u7684\u306b\u79fb\u52d5\u3057\u307e\u3059\uff09<\/p>\n
\r\n  print(challenge)\r\n  challengeFlag = True\r\n  # while True:\r\n  while not rospy.is_shutdown():\r\n    # sendBeacon()\r\n    # print("sendBeacon")\r\n\r\n    if (challenge == "test" and challengeFlag):\r\n<\/pre>\n
\u4ee5\u964d\uff0cchallenge \u306e\u5024\u3067\u5206\u5c90\u3057\u3066\uff0c\u5404\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u52d5\u304d\u307e\u3059\uff0e
\n\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u52d5\u4f5c\u78ba\u8a8d\u3092\u3057\u305f\u3044\u3068\u304d\u306f\uff0c\u4e0a\u8a18\u306e\u3088\u3046\u306a\u611f\u3058\u3067challenge\u540d\u3092test \u3068\u304b\u306b\u3057\u3066\u5206\u5c90\u3092\u66f8\u3051\u3070\uff0c\u5b9f\u884c\u3067\u304d\u307e\u3059\uff0e
\n\u3068\u308a\u3042\u3048\u305a\uff0c\u3056\u304f\u3063\u3068game2022.py \u306e\u8aac\u660e\u306f\u4ee5\u4e0a\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
\u307e\u305a\u306f\uff0c\u308f\u304b\u308a\u3084\u3059\u3044\u65b9\u304b\u3089\uff0e \u30b2\u30fc\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3068\u304d\u306b\uff0cgame2022.py \u3092 …<\/p>\n
  BTR2022\u306e\u89e3\u8aac\uff08game2022.py\uff09<\/span> \u7d9a\u304d\u3092\u8aad\u3080 »<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[3,2,26,9,24],"tags":[],"class_list":["post-3136","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3136","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3136"}],"version-history":[{"count":1,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3136\/revisions"}],"predecessor-version":[{"id":3137,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3136\/revisions\/3137"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3136"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3136"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3136"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}