encoder=Encoder()
navigation=Navigation()
scanner=Scanner()
karte=Karte(encoder)
plan=Plan()
kreis=0
motor=Motor()
grid=Grid(50,50)
logic=Logic()
manuell=Manuell()
json=Json()
weggeber=Weggeber()
grid.setZielInGrid(35,20)
grid.setStartInGrid(1,1)
karte.setRoboPosZero(0,0)
plan.setGlobalZiel(150,0)
def cleaning():
"""Do cleanup at end, command are visVersa"""
motor.setCommand(0,0)
atexit.register(cleaning)
#SCAN OFF
ThreadScanAllTime=Thread(target=scanner.runAllTime, args=(0,))
ThreadScanAllTime.daemon=True
#ThreadScanAllTime.start()
ThreadEncoder=Thread(target=encoder.runAllTime,args=())
ThreadEncoder.daemon=True
ThreadEncoder.start()
count=1
speed=0
steer=0
encoder=Encoder()
navigation=Navigation()
scanner=Scanner()
karte=Karte(encoder)
plan=Plan()
kreis=0
motor=Motor()
grid=Grid(50,50)
grid.setZielInGrid(15,49)
grid.setStartInGrid(15,1)
karte.setRoboPosZero(150,150)
def cleaning():
"""Do cleanup at end, command are visVersa"""
motor.setCommand(0,0)
atexit.register(cleaning)
ThreadScanAllTime=Thread(target=scanner.runAllTime, args=(1,))
ThreadScanAllTime.daemon=True
ThreadScanAllTime.start()
ThreadEncoder=Thread(target=encoder.runAllTime,args=())
ThreadEncoder.daemon=True
ThreadEncoder.start()
sleep(1)
count = 1
speed = 0
steer = 0
encoder = Encoder()
navigation = Navigation()
scanner = Scanner()
karte = Karte(encoder)
plan = Plan()
kreis = 0
motor = Motor()
grid = Grid(50, 50)
grid.setZielInGrid(15, 49)
grid.setStartInGrid(15, 1)
karte.setRoboPosZero(150, 150)
def cleaning():
"""Do cleanup at end, command are visVersa"""
motor.setCommand(0, 0)
atexit.register(cleaning)
ThreadScanAllTime = Thread(target=scanner.runAllTime, args=(1, ))
ThreadScanAllTime.daemon = True
ThreadScanAllTime.start()
ThreadEncoder = Thread(target=encoder.runAllTime, args=())
ThreadEncoder.daemon = True
deltaR=0
encoder=Encoder()
navigation=Navigation()
scanner=Scanner()
karte=Karte(encoder)
plan=Plan()
motor_pwm=MotorPWM()
grid=Grid(220,220)
logic=Logic()
manuell=Manuell()
json=Json()
weggeber=Weggeber(motor_pwm)
loops =0
grid.setZielInGrid(900,900)
grid.setStartInGrid(0,0)
karte.setRoboPosZero(0,0)
logic.setGlobalZiel(0,0)
ziellist =[[2800,0],[2800,2800],[0,2800],[0,0]]
plan.init_generator_ziel(ziellist)
filename_enviroment = "Weg"
#sys.stdout = Logger() #Schreibe stdout in Datei logfile.log
def cleaning():
"""Do cleanup at end, command are visVersa"""
motor_pwm.setCommand(0,0)
atexit.register(cleaning)
ThreadEncoder=Thread(target=encoder.runAllTime,args=())
