Add simple exploration mode.

api/python/examples/exploration.py

@@ -0,0 +1,36 @@
+import time
+import numpy as np
+
+from rosa import Rosa
+
+
+"""
+    Exploration mode.
+
+    The robot will goes straightforward until it sees an obstacle or detect void below it.
+    It will then do a random turn and keep going.
+
+    The program runs forever until stops via Ctrl-c.
+"""
+
+
+cruise_speed = 0.15
+
+if __name__ == '__main__':
+    rosa = Rosa('rosa.local')
+
+    while True:
+        dist = np.array([rosa.get_distance(s) for s in rosa.front_distance_sensors])
+        obstacle_detected = np.any(dist > 200)
+
+        ground = np.array([rosa.get_distance(s) for s in rosa.ground_distance_sensors])
+        void_detected = np.any(ground < 100)
+
+        if obstacle_detected or void_detected:
+            rosa.left_wheel.speed = np.random.rand() - 0.5  # random value within [-1/2, 1/2]
+            rosa.right_wheel.speed = np.random.rand() - 0.5  # random value within [-1/2, 1/2]
+
+            time.sleep(1)
+
+        rosa.left_wheel.speed = rosa.right_wheel.speed = cruise_speed
+        time.sleep(0.1)