Professor Carmine Recchiuto
Student: Raffaele Pumpo
The simulator requires a Python 2.7 installation, the pygame library, PyPyBox2D, and PyYAML.
Once the dependencies are installed, simply run the test.py script to test out the simulator as: python2 run.py assigment.py where assigment.py contains the code.
The goal for this assignment is to make a robot that moves silver token close gold token in pairs, as follows:
The arena contains 6 silver token in the middle and same numbers of golden token around it, as follows:
The robot is the following:
It has sensors that allows to detect tokens in front of it.
The main has been implemented in the simplest way, calling, alternatively, only two functions. This choice makes the code more readable and allows a easier test of the functions used. Thanks to a flowchart can be described the general structure of the code:
The function implemented check_offset allows to check the offset of the token seen by the robot indifferently between silver and golden. It checks if the token is already presents in the lists, in that case the token has been moved before, for the silver ones, or it has already a silver token close it, for the golden ones. This function has been used as condition in find_silver_token and find_golden_token before choosing the right token.
Since the robot has many distance sensors to be used, it could be also useful to detect, if the robot has already taken a silver token, the others on its way in order to avoid them. In the code has not been implemented a system to stop the robot's task, with the aim is more general possible, in this way the code is efficient when even though the number of tokens changes. So an additive feature can be do detect the total number of token present in the arena, and this one used as the ending value for a FOR loop instead the while used in the main.