/// <summary>
/// Translate the RobotActions into real world robot movements serial commands
/// </summary>
/// <param name="action"></param>
public override void DoActions(PhysicalRobotAction action)
{
if (action.ActionType == PhysicalActionType.MoveForward)
moveDistance(action.RobotId, (int) action.ActionValue);
else if (action.ActionType == PhysicalActionType.MoveBackward)
moveDistance(action.RobotId, -1*(int)action.ActionValue);
else if (action.ActionType == PhysicalActionType.Turn)
rotateDegree(action.RobotId, (int)action.ActionValue);
else if (action.ActionType == PhysicalActionType.SetSpeed)
moveDistance(action.RobotId, (int)action.ActionValue);
}
public override void DoActions(PhysicalRobotAction action)
{
//Console.WriteLine("Sending action to simulator");
Random rng = new Random();
if (action.ActionType == PhysicalActionType.MoveForward)
{
//Accounts for scaling differences in the simulator and the controller
action.ActionValue = (action.ActionValue / 1000) * this.scale;
Console.WriteLine("=====================MOVING FORWARD THIS DISTANCE: " + action.ActionValue);
CS266.SimCon.Simulator.RobotActions rb = new RobotActions();
rb.Add(new RobotAction(action.RobotId.ToString(), 0, (float)action.ActionValue));
os.ExecuteActions(rb);
}
else if (action.ActionType == PhysicalActionType.MoveBackward)
{
//Accounts for scaling differences in the simulator and controller
action.ActionValue = (action.ActionValue / 1000) * this.scale;
CS266.SimCon.Simulator.RobotActions rb = new RobotActions();
rb.Add(new RobotAction(action.RobotId.ToString(), 0, (float)-action.ActionValue));
os.ExecuteActions(rb);
}
else if (action.ActionType == PhysicalActionType.Turn)
{
if (os.Algo.name != "DFS")
{
if (action.ActionValue < 0)
{
action.ActionValue = (-1) * (360f + action.ActionValue);
}
else
{
action.ActionValue *= -1;
}
}
Console.WriteLine("=====================TURNING THIS ANGLE: " + action.ActionValue);
CS266.SimCon.Simulator.RobotActions rb = new RobotActions();
//rb.Add(new RobotAction(action.RobotId.ToString(), (float)action.ActionValue, 0));
rb.Add(new RobotAction(action.RobotId.ToString(), (-1) * (float)action.ActionValue, 0));
// multiply by -1 to undo what Robot.cs does!
os.ExecuteActions(rb);
}
else if (action.ActionType == PhysicalActionType.CreateRobot)
{
os.AddNewRobot(new ObjectState("N1", "robot", new float[3] { DFSExperiment.doorX, DFSExperiment.doorY, 0 }, new float[3] { 1, 0, 0 }, new float[3] { 0, 0, 0 }, new float[3] { 0, 0, 0 }));
}
else if (action.ActionType == PhysicalActionType.SetSpeed) { }
//System.Threading.Thread.Sleep(500);
}
public abstract void DoActions(PhysicalRobotAction action);
