def main():
board = rb.RoseBotConnection(
ip_address="r01.wlan.rose-hulman.edu") # change the 'rXX' value
motors = rb.RoseBotMotors(board)
print("Driving forward")
motors.drive_pwm(150, 150)
board.sleep(1.0)
motors.brake()
print("Pivot-- turn to right")
motors.drive_pwm(
100, -100
) # Turn on left motor counter clockwise medium power (motorPower = 150)
board.sleep(0.5)
motors.brake()
print("Driving reverse")
motors.drive_pwm(-150, -150)
board.sleep(1.0)
motors.brake()
while True:
# Figure 8 pattern -- Turn Right, Turn Left, Repeat
print("Veering Right")
motors.drive_pwm(150, 80)
board.sleep(2.0)
print("Veering Left")
motors.drive_pwm(80, 150)
board.sleep(2.0)
def main():
board = rb.RoseBotConnection(ip_address="r03.wlan.rose-hulman.edu") # change the 'rXX' value
motors = rb.RoseBotMotors(board)
print("Left and right motors at full speed forward")
motors.drive_pwm(255) # Turn on Left and right motors at full speed forward.
board.sleep(2.0) # Waits for 2 seconds
print("Stop both motors")
motors.brake() # Stops both motors
board.shutdown()
def main():
board = rb.RoseBotConnection(
ip_address='r01.wlan.rose-hulman.edu') # change the 'rXX' value
# The heartbeat keep_alive() message does not work with the input() function,
# so disable keep_alive by setting the parameter to 0.
board.keep_alive(0)
motors = rb.RoseBotMotors(board)
while True:
speed = int(
input()
) # input any integer from -255 (reverse full speed) to 255 (full speed forward)
motors.drive_pwm(speed)
def main():
board = rb.RoseBotConnection(
ip_address='r03.wlan.rose-hulman.edu') # change the 'rXX' value
motors = rb.RoseBotMotors(board)
encoders = rb.RoseBotEncoder(board)
button = rb.RoseBotDigitalInput(board,
rb.RoseBotPhysicalConstants.PIN_BUTTON)
while True:
# wait for a button press to start driving.
if button.read() == 0:
motors.drive_distance(12,
150) # drive 12 inches at motor_power = 150
def main():
board = rb.RoseBotConnection(ip_address="r01.wlan.rose-hulman.edu", use_log_file=False)
motors = rb.RoseBotMotors(board)
print("Here is the RoseBot driving Normally (no control inbuilt) ")
motors.drive_at_speed(30, 30, True)
board.sleep(15)
motors.brake()
board.sleep(2)
print("Here is an example of PID control to drive the RoseBot straight")
motors.drive_at_speed(30, 30, True)
board.sleep(8)
motors.brake()
board.sleep(2)
board.shutdown()
def main():
board = rb.RoseBotConnection(
ip_address='r03.wlan.rose-hulman.edu') # change the 'rXX' value
motors = rb.RoseBotMotors(board)
IR_sensor_1 = rb.RoseBotAnalogInput(board,
rb.RoseBotPhysicalConstants.PIN_A3)
IR_sensor_2 = rb.RoseBotAnalogInput(board,
rb.RoseBotPhysicalConstants.PIN_A6)
IR_sensor_3 = rb.RoseBotAnalogInput(board,
rb.RoseBotPhysicalConstants.PIN_A7)
print("Welcome to Experiment 6!")
print("------------------------")
while True:
board.sleep(0.1)
print("IR Sensor Readings: {}, {}, {}".format(
IR_sensor_1.read(), IR_sensor_2.read(), IR_sensor_3.read()))
def main():
board = rb.RoseBotConnection(
ip_address="r01.wlan.rose-hulman.edu") # change the 'rXX' value
motors = rb.RoseBotMotors(board)
button = rb.RoseBotDigitalInput(board,
rb.RoseBotPhysicalConstants.PIN_BUTTON)
buzzer = rb.RoseBotBuzzer(board, rb.RoseBotPhysicalConstants.PIN_9)
while True:
if button.read() == rb.RoseBotConstants.LOW:
buzzer.play_tone(400, 0.5)
board.sleep(0.75)
buzzer.play_tone(400, 0.5)
board.sleep(0.75)
buzzer.play_tone(2000, None)
board.sleep(0.75)
buzzer.stop()
motors.drive_pwm(255) # Drive forward for a while
board.sleep(1.0)
motors.brake()
else:
board.sleep(rb.RoseBotConstants.SAMPLING_INTERVAL_S)
def main():
board = rb.RoseBotConnection(ip_address='r01.wlan.rose-hulman.edu', use_log_file=False) # change the 'rXX' value
#board = rb.RoseBotConnection(use_log_file=False) # change the 'rXX' value
motors = rb.RoseBotMotors(board)
encoders = rb.RoseBotEncoder(board)
button = rb.RoseBotDigitalInput(board, rb.RoseBotPhysicalConstants.PIN_BUTTON)
print("Left Right")
print("==============")
while True:
# wait for a button press to start driving (note make sure Pixy is NOT connected so you can use the button).
if button.read() == 0:
print("Detected a button press")
encoders.reset_encoder_counts() # Reset the counters
motors.drive_pwm(150) # Start driving forward
count_left = encoders.count_left
count_right = encoders.count_right
print("{} {}".format(count_left, count_right)) # stores the encoder count to a variable
board.sleep(rb.RoseBotConstants.SAMPLING_INTERVAL_S)
# if either left or right motor are more than 5 revolutions, stop
if count_left >= 5 * rb.RoseBotPhysicalConstants.COUNTS_PER_REV or count_right >= 5 * rb.RoseBotPhysicalConstants.COUNTS_PER_REV:
motors.brake()
"""
Exp5_Bumpers -- RoseBot Experiment 5
Now let's experiment with the whisker bumpers. These super-simple switches
let you detect a collision before it really happens- the whisker will
bump something before your robot crashes into it.
"""
import rosebot.rosebot as rb
board = rb.RoseBotConnection(ip_address="r01.wlan.rose-hulman.edu")
# Instantiate the motor control object. This only needs to be done once.
motors = rb.RoseBotMotors(board)
left_bumper = rb.RoseBotDigitalInput(
board,
rb.RoseBotPhysicalConstants.PIN_3) # initializes bumper object on pin 3
right_bumper = rb.RoseBotDigitalInput(
board,
rb.RoseBotPhysicalConstants.PIN_11) # initializes bumper object on pin 11
def main():
while True:
motors.drive_pwm(255)
left_bumper_state = left_bumper.read()
right_bumper_state = right_bumper.read()
if left_bumper_state == 0: # left bumper is bumped
reverse()
turn_right()
if right_bumper_state == 0: # Right bumper is bumped
reverse()
turn_left()
