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dagarzonrdagarzonr
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Added prototypes of loop functions for habanero, and xmas and easter videos
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‎scenarios/easter.argos

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<?xml version="1.0" ?>
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<argos-configuration>
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<!-- ************* -->
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<!-- * Framework * -->
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<!-- ************* -->
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<framework>
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<experiment length="360"
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ticks_per_second="10" random_seed="868737"/>
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</framework>
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<!-- ****************** -->
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<!-- * Loop functions * -->
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<!-- ****************** -->
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<loop_functions library="/home/mkegelei/tuttifrutti-xmas/experiments-loop-functions/devel/lib/libeaster_sw_loopfunc.so"
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label="easter_sw_loop_function">
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<params number_robots="6"
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build_arena="true"
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number_edges="8"
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number_boxes_per_edge="3"
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lenght_boxes="0.25"/>
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</loop_functions>
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<!-- *************** -->
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<!-- * Controllers * -->
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<!-- *************** -->
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<controllers>
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<!-- TRANSMITTER -->
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<automode_controller id="tuttifrutti"
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library="/home/mkegelei/tuttifrutti-xmas/AutoMoDe-tuttifrutti/build/src/libautomode.so">
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<actuators>
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<epuck_wheels implementation="default" noise_std_dev="0.05"/>
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<epuck_rgb_leds implementation="default" medium="leds"/>
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<epuck_range_and_bearing implementation="medium" medium="rab" data_size="4" range="0.5"/>
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</actuators>
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<sensors>
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<epuck_proximity implementation="default" show_rays="false" noise_level="0.05" calibrated="true"/>
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<epuck_range_and_bearing implementation="medium" medium="rab" data_size="4" nois_std_deviation="1.5" loss_probability="0.85" calibrated="true"/>
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<epuck_light implementation="default" show_rays="false" noise_level="0.05" calibrated="true"/>
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<epuck_ground implementation="rot_z_only" noise_level="0.05" calibrated="true"/>
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<epuck_omnidirectional_camera implementation="rot_z_only" medium="leds" show_rays="false"/>
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</sensors>
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<params readable="false" history='false'
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fsm-config="--nstates 2 --s0 9 --vel0 1.0 --cle0 0 --clr0 2 --n0 1 --n0x0 0 --c0x0 2 --p0x0 0.68 --s1 8 --vel1 1.0 --cle1 5 --clr1 3 --n1 2 --n1x0 0 --c1x0 7 --p1x0 0.55 --l1x0 1 --n1x1 0 --c1x1 3 --p1x1 9 --w1x1 18.18"/>
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<!-- From sa -> n0x0 sb = n0x0 sb+1, (a < b) -->
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<!-- From sa -> n0x0 sb = n0x0 sb , (a > b)-->
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</automode_controller>
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</controllers>
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<!-- ********* -->
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<!-- * Arena * -->
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<!-- ********* -->
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<arena size="3, 3, 1" center="0,0,0">
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<!-- ********* -->
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<!-- * Tree * -->
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<!-- ********* -->
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<box id="box" size="0.001,0.001,0.04" movable="false">
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<body position="0,0,0" orientation="0,0,0"/>
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<leds medium="leds">
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<led id="led_0" offset=" 0.0, 0.75, 0.18" anchor="origin" color="red" />
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<led id="led_1" offset=" 0.0, 0.50, 0.18" anchor="origin" color="red" />
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<led id="led_2" offset=" 0.0, 0.25, 0.18" anchor="origin" color="red" />
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<led id="led_3" offset=" 0.0, 0.0, 0.18" anchor="origin" color="red" />
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<led id="led_4" offset=" 0.0, -0.25, 0.18" anchor="origin" color="red" />
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<led id="led_5" offset=" 0.0, -0.50, 0.18" anchor="origin" color="red" />
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<led id="led_6" offset=" 0.0, -0.75, 0.18" anchor="origin" color="red" />
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<led id="led_7" offset=" 0.25, 0.75, 0.18" anchor="origin" color="red" />
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<led id="led_8" offset=" 0.25, 0.50, 0.18" anchor="origin" color="red" />
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<led id="led_9" offset=" 0.25, 0.25, 0.18" anchor="origin" color="red" />
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<led id="led_10" offset=" 0.25, 0.0, 0.18" anchor="origin" color="red" />
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<led id="led_11" offset=" 0.25, -0.25, 0.18" anchor="origin" color="red" />
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<led id="led_12" offset=" 0.25, -0.50, 0.18" anchor="origin" color="red" />
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<led id="led_13" offset=" 0.25, -0.75, 0.18" anchor="origin" color="red" />
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<led id="led_14" offset=" 0.50, 0.50, 0.18" anchor="origin" color="red" />
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<led id="led_15" offset=" 0.50, 0.25, 0.18" anchor="origin" color="red" />
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<led id="led_16" offset=" 0.50, 0.0, 0.18" anchor="origin" color="red" />
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<led id="led_17" offset=" 0.50, -0.25, 0.18" anchor="origin" color="red" />
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<led id="led_18" offset=" 0.50, -0.50, 0.18" anchor="origin" color="red" />
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<led id="led_19" offset=" 0.75, 0.25, 0.18" anchor="origin" color="red" />
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<led id="led_20" offset=" 0.75, 0.0, 0.18" anchor="origin" color="red" />
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<led id="led_21" offset=" 0.75, -0.25, 0.18" anchor="origin" color="red" />
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</leds>
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</box>
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<!-- Change the floor here -->
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<floor id="floor" source="loop_functions" pixels_per_meter="300"/>
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<!-- Change the light here -->
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<!-- Please note that this light has an intensity equal to 0 -->
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<!-- and therefore does not affect the experiment. -->
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<!-- ARGoS requires at least one light when using the light sensor -->
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<light id="light" position="-1.4,0,0.4" orientation="0,0,0" color="yellow" intensity="0.0" medium="leds"/>
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<!-- ********** -->
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<!-- * E-Puck * -->
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<!-- ********** -->
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<distribute>
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<position method="uniform" min="-1,-1,0" max="1,1,0" />
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<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
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<entity quantity="6" max_trials="100">
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<e-puck id="epuck">
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<controller config="tuttifrutti" />
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</e-puck>
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</entity>
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</distribute>
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<!-- ********** -->
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<!-- * Walls * -->
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<!-- ********** -->
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<!-- The walls are distributed by the AutoMoDeLoopFunctions. -->
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</arena>
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<!-- ******************* -->
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<!-- * Physics engines * -->
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<!-- ******************* -->
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<physics_engines>
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<dynamics2d id="dyn2d" />
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</physics_engines>
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<!-- ********* -->
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<!-- * Media * -->
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<!-- ********* -->
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<media>
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<led id="leds" grid_size="1,1,1"/>
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<range_and_bearing id="ircom"/>
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<range_and_bearing id="rab"/>
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</media>
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<!-- ***************** -->
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<!-- * Visualization * -->
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<!-- ***************** -->
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<visualization>
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<qt-opengl>
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<camera>
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<placement idx="0"
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position="0,0,2.7"
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look_at="0,0,0"
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lens_focal_length="30" />
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</camera>
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</qt-opengl>
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</visualization>
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</argos-configuration>

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