def threadfunc(values):
# Connect to the Create2
bot = Robot()
while True:
# Convert [-1,+1] axis to [-500,+500] turn speed
if abs(values[0]) > abs(values[1]):
# Only turn
bot.setTurnSpeed(500*values[0])
else:
bot.setForwardSpeed(500*values[1])
# Yield to main thread
sleep(.01)
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
from breezycreate2 import Robot
import time
# Create a Create2. This will automatically try to connect to your robot over serial
bot = Robot()
# Play a note to let us know you're alive!
bot.playNote('A4', 100)
# Tell the Create2 to turn right slowly
bot.setTurnSpeed(-50)
# Wait a second
time.sleep(1)
# Stop
bot.setTurnSpeed(0)
# Report bumper hits and wall proximity for 30 seconds
start_time = time.time()
('C4',11,0.3),
('C4',11,0.3),
('C4',32,0.7),
('G4',32,0.7),
('F4',11,0.3),
('E4',11,0.3),
('D4',11,0.3),
('C5',64,1.2),
('G4',40,0.7),
('F4',11,0.3),
('E4',11,0.3),
('D4',11,0.3),
('C5',64,1.2),
('G4',40,0.7),
('F4',11,0.3),
('E4',11,0.3),
('F4',11,0.3),
('D4',64,2) ]
'''
# Create a Create2. This will automatically try to connect to your robot over serial
bot = Robot()
# Play the melody
for triple in MELODY:
bot.playNote(triple[0], triple[1])
time.sleep(triple[2])
# Close the connection
bot.close()
speed2 = 15
runtime = 133.33
bot.robot.drive_straight(speed2)
time.sleep(runtime)
# Speed 100 = 0.1 m per second, 10 seconds to make 1 meter
# does faster speed mean less accuracy?
# stop after certain amount of time
bot.robot.drive_straight(0)
def move400(self): #double as fast, same time to get 2 times distance
speed3 = 200
runtime2 = 20
bot.robot.drive_straight(speed3)
time.sleep(runtime2)
# stop after certain amount of time
bot.robot.drive_straight(0)
threads = []
if __name__ == '__main__':
import sys, getopt
#def main():
try:
bot = Robot()
movement = testMove()
movement.move200()
str('testgood')
#return 0
except:
str('test')
#return 1
Threshold = 0.3
X = [
0.73472, 1.92912, 3.1645, 4.38612, 0.71062, 1.94628, 3.16704, 4.38568,
0.7195, 1.91526, 3.17254, 4.39526, 0.6789, 1.89398, 3.1669, 4.38698
]
Y = [
-0.02102, -0.0125, 0.01, 0.0421, 1.1086, 1.18886, 1.20054, 1.21036,
2.41466, 2.45076, 2.38374, 2.40446, 3.62488, 3.66896, 3.572, 3.60554
]
plt.plot(X, Y, 'ro')
i = 0
for x in range(0, len(X)):
plt.annotate(i, xy=(X[x], Y[x]))
i = i + 1
bot = Robot()
hedge1 = MarvelmindHedge(tty="/dev/ttyACM0", adr=2, debug=False)
hedge2 = MarvelmindHedge(tty="/dev/ttyACM1", adr=8, debug=False)
hedge1.start()
hedge2.start()
sleep(1)
for row in points:
graph.add_node(rowNumber)
rowNumber = rowNumber + 1
n = rowNumber
# print(n)
for i in range(0, n):
for j in range(0, n):
if points[i, j] != 0:
graph.add_edge(i, j, points[i, j])
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
from breezycreate2 import Robot
import time
import numpy as np
import math
# Create a Create2. This will automatically try to connect to your robot over serial
bot = Robot()
# Play a note to let us know you're alive!
# +bot.playNote('A4', 100)
# Tell the Create2 to turn right slowly
pre_right_encoder, pre_left_encoder = bot.getEncoderCounts()
print pre_right_encoder, pre_left_encoder
# bot.setTurnSpeed(-20)
vl = 30
vr = 30
bot.setWheelSpeed(vr, vl)
time.sleep(5)
# bot.setTurnSpeed(20)
# time.sleep(2)
