buzz_argos

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buzz_argos [2018/03/18 23:19] – [Debugging Buzz Programs] rootbuzz_argos [2018/03/18 23:30] – [ARGoS + Buzz: Basic information] root
Line 34: Line 34:
  
 <code xml> <code xml>
 +<!-- 
 +     For a full example of an ARGoS configuration file, refer to
 +
 +     https://github.com/ilpincy/argos3-examples/blob/master/experiments/diffusion_1.argos
 +     
 +     and the other examples at
 +     
 +     https://github.com/ilpincy/argos3-examples/blob/master/experiments/
 +-->
 +
 +...
 +
 <controllers> <controllers>
  
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    </spiri>    </spiri>
 </arena> </arena>
 +
 +...
  
 </code> </code>
  
-To activate drawing, use ''buzz_qt'' to indicate that you want to use the Buzz QtOpenGL user functions:+If you want ARGoS to start with a Buzz script already loaded, you can specify that in the ''<params />'' tag of the robot controller. The above example for the foot-bot, for example, becomes:
  
 <code xml> <code xml>
 +  ...
 +
 +  <buzz_controller_footbot id="bcf">
 +    <actuators>
 +      <differential_steering implementation="default" />
 +      <leds                  implementation="default" medium="leds" />
 +      <range_and_bearing implementation="default" />
 +    </actuators>
 +    <sensors>
 +      <range_and_bearing implementation="medium" medium="rab" show_rays="true" noise_std_dev="0" />
 +    </sensors>
 +    
 +    <!-- This loads the specified files at startup -->
 +    <params bytecode_file="myscript.bo" debug_file="myscript.bdb" />
 +    
 +  </buzz_controller_footbot>
 +  
 +  ...
 +  
 +</code>
 +
 +To activate the Buzz editor and support debugging, use ''buzz_qt'' to indicate that you want to use the Buzz QtOpenGL user functions:
 +
 +<code xml>
 +<!-- For a full example of an ARGoS configuration file, refer to
 +     https://github.com/ilpincy/argos3-examples/blob/master/experiments/diffusion_1.argos
 +-->
 +
 <visualization> <visualization>
   <qt-opengl>   <qt-opengl>
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 == Writing Text on Top of a Robot == == Writing Text on Top of a Robot ==
  
-== Drawing the Trajectory of a Robot ==+  * ''debug.print(message)'' 
 +    * prints a message on top of the robot, after the robot id 
 +    * ''message'' can be a combination of text and variables, such as ''"x = ", x, " cm"''
  
-You can draw the trajectory of the robot as it moves.+== Drawing the Trajectory of a Robot ==
  
   * ''debug.trajectory.enable(maxpoints,r,g,b)''   * ''debug.trajectory.enable(maxpoints,r,g,b)''
     * enable trajectory tracking setting how many points should be stored and the drawing color     * enable trajectory tracking setting how many points should be stored and the drawing color
 +    * ''(r,g,b)'' is the drawing color of the trajectory (0-255 for each value)
   * ''debug.trajectory.enable(maxpoints)''   * ''debug.trajectory.enable(maxpoints)''
     * enable trajectory tracking setting how many points should be stored     * enable trajectory tracking setting how many points should be stored
   * ''debug.trajectory.enable(r,g,b)''   * ''debug.trajectory.enable(r,g,b)''
     * enable trajectory tracking keeping maxpoints' last value and setting the drawing color     * enable trajectory tracking keeping maxpoints' last value and setting the drawing color
 +    * ''(r,g,b)'' is the drawing color of the trajectory (0-255 for each value)
   * ''debug.trajectory.enable()''   * ''debug.trajectory.enable()''
     * enable trajectory tracking keeping maxpoints' last value (default is 30)     * enable trajectory tracking keeping maxpoints' last value (default is 30)
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     * draw a ray from the reference point of the robot to ''(x,y,z)''.     * draw a ray from the reference point of the robot to ''(x,y,z)''.
     * ''(x,y,z)'' is expressed wrt the robot reference frame     * ''(x,y,z)'' is expressed wrt the robot reference frame
 +    * ''(r,g,b)'' is the color of the vector (0-255 for each value)
   * ''debug.rays.add(r,g,b, x0,y0,z0, x1,y1,z1)''   * ''debug.rays.add(r,g,b, x0,y0,z0, x1,y1,z1)''
     * draw a ray from ''(x0,y0,z0)'' to ''(x1,y1,z1)''     * draw a ray from ''(x0,y0,z0)'' to ''(x1,y1,z1)''
     * ''(x0,y0,z0)'' and ''(x1,y1,z1)'' are expressed wrt the robot reference frame     * ''(x0,y0,z0)'' and ''(x1,y1,z1)'' are expressed wrt the robot reference frame
 +    * ''(r,g,b)'' is the color of the vector (0-255 for each value) 
 +  * debug.rays.clear() 
 +    * delete all the rays
  • buzz_argos.txt
  • Last modified: 2018/03/18 23:34
  • by root