def turnLeft():
#call api provided by drive system
#print('turn left')
x ,y,heading = gpsxy.gps_mag_data()
if heading > 270:
final_angle = heading + 90 - 360
print('final angle',final_angle)
while(heading < 360 and heading > 270):
print('left')
num = [12,13,14]
#bus.write_block_data(addr,6,num)
x ,y,heading = gpsxy.gps_mag_data()
while(heading <=final_angle ):
print('left')
num = [12,13,14]
#bus.write_block_data(addr,6,num)
x ,y,heading = gpsxy.gps_mag_data()
if heading > final_angle:
break
else:
final_angle = heading+90
print('final angle',final_angle)
while(heading < final_angle):
print('left')
num = [12,13,14]
#bus.write_block_data(addr,6,num)
x ,y,heading = gpsxy.gps_mag_data()
if heading > final_angle:
break
return
def turnRight():
#call api provided by drive system
#print('turn right')
x ,y,heading = gpsxy.gps_mag_data()
if heading < 90:
final_angle = heading - 90 + 360
print('final angle',final_angle)
while(heading > 0 and heading < 90):
print('right')
num = [12,13,14]
#bus.write_block_data(addr,6,num)
x ,y,heading = gpsxy.gps_mag_data()
heading = 360
while(heading > final_angle ):
print('right')
num = [12,13,14]
#bus.write_block_data(addr,6,num)
x ,y,heading = gpsxy.gps_mag_data()
if(heading < final_angle):
break
else:
final_angle = heading-90
print('final angle',final_angle)
while(heading >= final_angle):
print('right')
num = [12,13,14]
#bus.write_block_data(addr,6,num)
x ,y,heading = gpsxy.gps_mag_data()
if heading < final_angle:
break
return
def findPosition():
#get latitude and longitude from arduino
a1, b1, c = gpsxy.gps_mag_data()
pos = np.array([a1, b1])
print(pos.latitude, ' ', pos.longitude)
return pos
def findPosition():
#get latitude and longitude from arduino
a1 , b1 , c = gpsxy.gps_mag_data()
a1 = conv.convert_gps(a1)
b1 = conv.convert_gps(b1)
pos = Location(a1 , b1)
print (pos.latitude ,' ', pos.longitude)
return pos
def findHeading():
a, b , heading = gpsxy.gps_mag_data()
print (heading)
return heading