Behaviors

class pyenki.behaviors.Chain

A sequence of controllers.

For example,

>>> robot.control_step_callback = Chain(controller1, controller2, ...)

will call

controller1(robot, dt)
controller2(robot, dt)
...

at each control step.

__call__(obj: PhysicalObject, dt: SupportsFloat) → None

Calls the controllers in sequence

__init__(*controllers: Callable[[PhysicalObject, SupportsFloat], None]) → None

class pyenki.behaviors.ThymioLEDProxBehavior

Thymio LED prox behavior ported from the firmware, see static void behavior_leds_prox(void).

The original behavior ticks at 50Hz. It should be assigned to a Thymio, like in

>>> thymio.control_step_callback = ThymioLEDProxBehavior()

__call__(thymio: PhysicalObject, dt: SupportsFloat) → None

Executes the behavior

__init__() → None

class pyenki.behaviors.ThymioLEDButtonsBehavior

Thymio LED prox behavior ported from the firmware, see static void behavior_leds_buttons(void).

The original behavior ticks at 50Hz. It should be assigned to a Thymio, like in

>>> thymio.control_step_callback = ThymioLEDButtonsBehavior()

__call__(thymio: PhysicalObject, dt: SupportsFloat) → None

Executes the behavior

__init__() → None

class pyenki.behaviors.ThymioAccBehavior

Thymio Acc behavior ported from the firmware, see static void tick_acc(void).

The original behavior ticks at 50Hz. It should be assigned to a Thymio, like in

>>> thymio.control_step_callback = ThymioAccBehavior()

__call__(thymio: PhysicalObject, dt: SupportsFloat) → None

Executes the behavior

__init__() → None

class pyenki.behaviors.ThymioExplorerBehavior

Thymio Explorer behavior ported from the firmware, see static void tick_explorer(void).

It is also very similar to the aseba implementation.

The original behavior ticks at 50Hz. It should be assigned to a Thymio, like in

>>> thymio.control_step_callback = ThymioExplorerController()

__call__(thymio: PhysicalObject, dt: SupportsFloat) → None

Executes the behavior

__init__(prox_value: int = 1000)

Constructs a new instance.

Parameters:

prox_value – the threshold to move back. The original implementation uses a (very low) 222, which is too reactive in simulation.

class pyenki.behaviors.ThymioFollowerBehavior

Thymio Follower behavior ported from the firmware, see static void tick_follow(void).

The original behavior ticks at 50Hz. It assumes that other “friendly” robots have enabled proximity communication. It should be assigned to a Thymio, like in

>>> thymio.prox_comm_enabled = True
>>> thymio.control_step_callback = ThymioExplorerController()

__call__(thymio: PhysicalObject, dt: SupportsFloat) → None

Executes the behavior

__init__() → None

class pyenki.behaviors.ThymioLineFollowingBehavior

Thymio line following behavior ported from the firmware, see static void tick_line(void).

The original behavior ticks at 50Hz. It should be assigned to a Thymio, like in

>>> thymio.control_step_callback = ThymioLineBehavior()

__call__(thymio: PhysicalObject, dt: SupportsFloat) → None

Executes the behavior

__init__(black: int = 300, white: int = 600) → None

Constructs a new instance.

Parameters:

• black – The ground sensors black threshold

• white – The ground sensors white threshold