#!/usr/bin/env python
# -*- coding: utf-8
import struct, time
import kbhit
from RobotCommunication import SerialCommands
robot = SerialCommands('/dev/ttyAMA0',115200)
kb = kbhit.KBHit()
print robot.init()
if __name__ == '__main__':
robot.startLineFollowing(20) ###start line following with speed 1-127
while 1:
if kb.kbhit(): ### check if the key is pressed
key = kb.getch()
if key == 'r': ##if pressed "r" go from left to right lane
robot.laneChange(1)
if key == 'l': ##if pressed "l" go from right to left lane
robot.laneChange(-1)
if key == 's': ## if pressed "s" stop the robot
robot.init()
from picamera import PiCamera
import time
import cv2
import numpy as np
from RobotCommunication import SerialCommands
import socket
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host, port))
robot = SerialCommands('/dev/ttyAMA0', 115200)
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
def findDist():
camera.capture(rawCapture, format="bgr")
img = rawCapture.array #take image
import numpy as np
from RobotCommunication import SerialCommands
import socket
import scipy.integrate
cruise_dist = 300
v_desr = 100
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host, port))
robot = SerialCommands('/dev/ttyAMA0', 115200)
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
def findDist():
camera.capture(rawCapture, format="bgr")
img = rawCapture.array #take image
from GPSServerConnection import GPSServerConnection
from RobotCommunication import SerialCommands
import numpy as np
import time
gps_pos = GPSServerConnection()
robot = SerialCommands('/dev/ttyAMA0',115200)
pos_x=[]
pos_y=[]
if __name__ == '__main__':
pos,t = gps_pos.getPosition(1)
pos_x.append(pos[0])
pos_y.append(pos[1])
robot.startLineFollowing(20)
for i in range(1,40):
pos_x.append(pos_x[i-1]+ (20*0.465*0.2)*0.2516)
pos_y.append(pos_y[i-1])
time.sleep(0.2)
print pos_x[39]
import sys
sys.path.append('/usr/local/lib/python2.7/site-packages')
from picamera.array import PiRGBArray
from picamera import PiCamera
from oct2py import octave
#octave.addpath('./for_octave/image_matlab')
import time
import cv2
import struct, time
from RobotCommunication import SerialCommands
robot = SerialCommands('/dev/ttyAMA0',115200)
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
rawCapture = PiRGBArray(camera, size=(640, 480))
cruise_distance = 200 ## in mm
v_max = 80 ## in mm/s
v_curr = 1
a_max = 2
# allow the camera to warmup
time.sleep(0.1)
from RobotCommunication import SerialCommands
import time
dist = int(raw_input('set distance/n'))
robot = SerialCommands('/dev/ttyAMA0', 115200)
#robot.resetEncoders()
#old = robot.readEncoders()
#print old
#robot.autoCalibrate()
#time.sleep(5)
print robot.init()
robot.fixedDistance(dist)
#robot.startLineFollowing(40)
from RobotCommunication import SerialCommands
import time
dist = int(raw_input('set distance/n'))
robot = SerialCommands('/dev/ttyAMA0',115200)
#robot.resetEncoders()
#old = robot.readEncoders()
#print old
#robot.autoCalibrate()
#time.sleep(5)
print robot.init()
robot.fixedDistance(dist)
#robot.startLineFollowing(40)
import numpy as np
from RobotCommunication import SerialCommands
import socket
import scipy.integrate
cruise_dist =300
v_desr = 100
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host , port))
robot = SerialCommands('/dev/ttyAMA0',115200)
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
def findDist():
camera.capture(rawCapture, format="bgr")
img = rawCapture.array #take image
from GPSServerConnection import GPSServerConnection
from RobotCommunication import SerialCommands
import numpy as np
import time
gps_pos = GPSServerConnection()
robot = SerialCommands('/dev/ttyAMA0', 115200)
pos_x = []
pos_y = []
if __name__ == '__main__':
pos, t = gps_pos.getPosition(1)
pos_x.append(pos[0])
pos_y.append(pos[1])
robot.startLineFollowing(20)
for i in range(1, 40):
pos_x.append(pos_x[i - 1] + (20 * 0.465 * 0.2) * 0.2516)
pos_y.append(pos_y[i - 1])
time.sleep(0.2)
print pos_x[39]
robot.init()
print gps_pos.getPosition(1)
from picamera import PiCamera
import time
import cv2
import numpy as np
from RobotCommunication import SerialCommands
import socket
host = '192.168.30.37' ###address of the server
port = 9092
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((host , port))
robot = SerialCommands('/dev/ttyAMA0',115200)
print robot.init()
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
def findDist():
camera.capture(rawCapture, format="bgr")
img = rawCapture.array #take image