I am using Pygame and I have to adapt the following code thus the animation is also showing when the mouse is not moved (so there is no event). Can someone maybe help me please?
The "DDR.png" is attached below. I tried out several things, also by including the updates in the for loop of the main while-running-loop, but it didn't work yet. (You can also in-/decrease the velocity of the robot by pressing t or g).
import pygame
import math
class Envir:
def __init__(self,dimentions):
# colors
self.black = (0, 0, 0)
self.white = (255, 255, 255)
self.green = (0, 255, 0)
self.blue = (0, 0, 255)
self.red = (255, 0, 0)
self.yel = (255, 255, 0)
# map dims
self.height=dimentions[0]
self.width=dimentions[1]
# window settings
pygame.display.set_caption("Differential drive robot")
self.map=pygame.display.set_mode((self.width,self.height))
# text variables
self.font=pygame.font.Font('freesansbold.ttf',50)
self.text=self.font.render('default',True,self.white,self.black)
self.textRect=self.text.get_rect()
self.textRect.center=(dimentions[1]-600,dimentions[0]-100)
# trail
self.trail_set=[]
def write_info(self,Vl,Vr,theta):
txt=f"Vl = {Vl} Vr = {Vr} theta = {int(math.degrees(theta))}"
self.text=self.font.render(txt,True,self.white,self.black)
self.map.blit(self.text,self.textRect)
def trail(self,pos):
for i in range(0,len(self.trail_set)-1):
pygame.draw.line(self.map,self.yel,(self.trail_set[i][0],self.trail_set[i][1]),(self.trail_set[i+1][0],self.trail_set[i+1][1]))
if self.trail_set.__sizeof__()>30000:
self.trail_set.pop(0)
self.trail_set.append(pos)
def robot_frame(self,pos,rotation):
n=30
centerx,centery=pos
x_axis=(centerx + n*math.cos(-rotation),centery + n*math.sin(-rotation))
y_axis=(centerx + n*math.cos(-rotation+math.pi/2),centery + n*math.sin(-rotation+math.pi/2))
pygame.draw.line(self.map,self.red,(centerx,centery),x_axis,3)
pygame.draw.line(self.map,self.green,(centerx,centery),y_axis, 3)
class Robot:
def __init__(self,startpos,robotImg,width):
self.m2p=3779.52 # meters 2 pixels
#robot dims
self.w=width
self.x=startpos[0]
self.y=startpos[1]
self.theta=0
self.vl=0.05*self.m2p # meters/2
self.vr=0.05*self.m2p
self.maxspeed=0.02*self.m2p
self.minspeed=0.02*self.m2p
# graphics
self.img=pygame.image.load(robotImg)
self.rotated=self.img
self.rect=self.rotated.get_rect(center=(self.x,self.y))
def draw(self,map):
map.blit(self.rotated,self.rect)
def move(self,event=None):
if event is not None:
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_w:
self.vl += 0.001 * self.m2p
elif event.key == pygame.K_s:
self.vl -= 0.001 * self.m2p
elif event.key == pygame.K_o:
self.vr += 0.001 * self.m2p
elif event.key == pygame.K_l:
self.vr -= 0.001 * self.m2p
elif event.key == pygame.K_t:
self.vr += 0.001 * self.m2p
self.vl += 0.001 * self.m2p
elif event.key == pygame.K_g:
self.vr -= 0.001 * self.m2p
self.vl -= 0.001 * self.m2p
elif event.key == pygame.K_x:
self.vr = 0
self.vl = 0
self.x+=((self.vl+self.vr)/2)*math.cos(self.theta)*dt
self.y-=((self.vl+self.vr)/2)*math.sin(self.theta)*dt
self.theta+=(self.vr-self.vl)/self.w*dt
self.rotated=pygame.transform.rotozoom(self.img,math.degrees(self.theta),1)
self.rect=self.rotated.get_rect(center=(self.x,self.y))
# initialisation
pygame.init()
# start position
start=(200,200)
#dimentions
dims=(600,1200)
#running or not
running=True
# the envir
environment=Envir(dims)
# the robot
robot=Robot(start,"DDR.png",80)#0.01*3779.52
# dt
dt=0
lasttime=pygame.time.get_ticks()
# simulation loop
while running:
# activate the quit button
for event in pygame.event.get():
if event.type == pygame.QUIT:
running=False
robot.move(event)
dt = (pygame.time.get_ticks() - lasttime) / 1000
lasttime=pygame.time.get_ticks()
pygame.display.update()
environment.map.fill(environment.black)
robot.move()
environment.write_info(int(robot.vl), int(robot.vr), robot.theta)
robot.draw(environment.map)
environment.robot_frame((robot.x,robot.y),robot.theta)
environment.trail((robot.x,robot.y))
The image "DDR.png":
