abrconnection

abrconnection

An interface between Python and Autonomous Battle Royale

Documentation (ABR v0.0.3):

• Coordinate system is left-handed, with x being east, y being upwards, and z being north.

• RobotConnection(): class which handles connection to the game. Should be instantiated at beginning of script, and method connect() should be called immediately after. disconnect() ends connection.

• RobotConnection.set_tire_torque(tire_name, torque): sets torque of tire tire_name to torque. Current tire names are "BackLeft", "BackRight", "FrontLeft", and "FrontRight."

• RobotConnection.set_tire_steering(tire_name, bering): sets tire tire_name to bering. All angles/berings are clockwise off of vertical (unity's coordinate system is left-handed).

• RobotConnection.state_dict: Dictionary/Hashtable containing information about the state of the robot.

  • Vectors are stored as dictionaries with keys "x", "y", and "z".

  • state_dict["gps"]: Sensor containing position information of the robot.

    • state_dict["gps"]["position"]: Vector containing current position of robot relative to starting point.

  • state_dict["gyroscope"]: Sensor containing rotation information of the robot:

    • state_dict["gyroscope"]["right"]: Unit vector pointing right RELATIVE to the robot. For example, if the robot was facing in the default direction, its right vector would be <1, 0, 0> because its right direction is east. If the robot turned 90 degees counterclockwise, its right vector would be <0, 0, 1>. If the robot was facing a bering of 45 degrees and was climbing a 20 degree grade, its right vector would be <cos(45), sin(20), sin(45)> / sqrt(cos(45)^2 + sin(20)^2 + sin(45)^2).

    • state_dict["gyroscope"]["up"]: Unit vector pointing up RELATIVE to the robot. Same idea as before.

    • state_dict["gyroscope"]["forward"]: Unit vector pointing up RELATIVE to the robot. Same idea as before.

  • state_dict["lidar"]: Array containing distance to any object at 1 degree increments. state_dict["lidar"][0] would describe how many meters of clearance the robot has in front of itself, state_dict["lidar"][90] would describe its clearance to the right, and so on. If the robot has more than 100 meters of clearance in a particular direction, the value will capped at 100. In future updates, lidar upgrades might include an increase in range or density for in-game currency. Vertical FOV will be coming soon.