Reference ARGoS

NOTE: don't modify the values of the robot attributes. More specifically:

• Never write directly into the robot attributes
  • robot.proximity[4].angle = 1.67 -- NO!
• Never apply operations such as table.sort() to the robot table
  • table.sort(robot.proximity, function(a,b) return a.value > b.value end) -- NO!
• If you intend to use the values of a robot table, copy that table first:
  • myprox = table.copy(robot.proximity)
  • table.sort(myprox, function(a,b) return a.value < b.value end)

robot.id	A string containing the id of the robot.
robot.leds	Sets the color of the robot LEDs. The robot has a total of 13 RGB LEDs. 12 of them are arranged in a ring around the robot body, and one (also called the beacon) is positioned at the top of the robot body. To set the colors of a single LED, use set_single_color(idx, color). idx is the number of the LED to set (1-12 for the body LEDs, 13 for the beacon). color can be expressed as a string, such as "red", "green", "blue", etc., or as a triplet of numbers r,g,b. To set all colors at once, use set_all_colors(color). The color parameter works like set_single_color(idx, color).
robot.light	The light sensor allows the robot to detect light sources. The robot has 24 light sensors, equally distributed in a ring around its body. Each sensor reading is composed of an angle in radians and a value in the range [0,1]. The angle corresponds to where the sensor is located in the body with respect to the front of the robot, which is the local x axis. Regarding the value, 0 corresponds to no light being detected by a sensor, while values > 0 mean that light has been detected. The value increases as the robot gets closer to a light source.
robot.ground	The ground sensor reads the color of the floor. It is a list of 3 readings, center, left and right. The value goes from 0 or 1, where 0 means black, and 1 means white.
robot.proximity	The proximity sensors detect objects around the robots. The sensors are 8 and are equally distributed in a ring around the robot body. Each sensor has a range of 10cm and returns a reading composed of an angle in radians and a value in the range [0,1]. The angle corresponds to where the sensor is located in the body with respect to the front of the robot, which is the local x axis. Regarding the value, 0 corresponds to no object being detected by a sensor, while values > 0 mean that an object has been detected. The value increases as the robot gets closer to the object.
robot.random	This table offers a set of functions to draw random numbers from a distribution. Use bernoulli() to get either 0 or 1 from a Bernoulli distribution with p=0.5. You can also write bernoulli(p) to set a different value for p. Use exponential(m) to get a random number from an exponential distribution with mean m. Use gaussian(s) to get a random number from a Gaussian distribution with standard deviation s and zero mean. You can also write gaussian(s,m) to set a non-zero mean. Use uniform() to get a random number from a uniform distribution in the range [0,1). Alternatively, you can use uniform(max) to get a number between 0 and max, or uniform(min,max) to get a number between min and max. If you want integer numbers, use the functions uniform_int(max) and uniform_int(min,max).
robot.range_and_bearing	The range-and-bearing system allows robots to perform localized communication. Localized communication means that a robot, upon receiving data from another robot, also detects the position of the sender with respect to its local point of view. It is important to notice that the range-and-bearing system is not like WiFi. First, because two robots can exchange data only if they are in direct line of sight - if an object is between two robots, the robots can't communicate. Second, because robots that send data can only broadcast it in a limited area - you can't pick who you talk to as you would with an IP address. Third, the robots can exchange only 10 bytes of data. To set the data to broadcast, use set_data(). This function accepts input in two forms. You can write set_data(idx, data), and this means that you set the idx-th byte to the value of data. data must be a number in the range [0,255]. Alternatively, you can write set_data(data), where data must be a table containing exactly 10 numbers in the range [0,255]. At each time step, a robot receives a variable number of messages from nearby robots. Each message is stored in a table composed of data (the 10-bytes message payload), horizontal_bearing (the angle between the robot local x axis and the position of the message source; the angle is on the robot's xy plane, in radians), vertical_bearing (like the horizontal bearing, but it is the angle between the message source and the robot's xy plane), and range (the distance of the message source in cm).
robot.wheels	The real robot moves using two sets of wheels and tracks called treels. For simplicity, we treat the treels like normal wheels. To move the robot, use set_velocity(l,r) where l and r are the left and right wheel velocity, respectively. By 'wheel velocity' we mean linear velocity. In other words, if you say set_velocity(5,5), the robot will move forward at 5cm/s. You can get some information about robot motion and wheels, too. axis_length is the distance between the two wheels in cm. velocity_left and velocity_right store the current wheel velocity. distance_left and distance_right store the linear distance covered by the wheels in the last time step.
robot.colored_blob_omnidirectional_camera	This device returns a list of colored blobs, along with their position with respect to the robot center. A colored blob in ARGoS corresponds to an LED. The list of blobs varies in size over time, depending on what the robots sees. To start collecting data, you need to call enable(). To stop, call disable().