def playback(): record_start_time = None playback_start_time = datetime.datetime.now() car = Car() car.set_rc_mode() start_heading = car.dynamics.heading recording = Recording() while recording.read(): dyn = recording.current() if record_start_time == None: record_start_time = dyn.datetime record_start_heading = dyn.heading t_now = datetime.datetime.now() t_wait = (dyn.datetime - record_start_time) - (t_now - playback_start_time) if t_wait.total_seconds() > 0: time.sleep(t_wait.total_seconds()) # adjust steering based on heading error actual_turn = degrees_diff(start_heading, car.dynamics.heading) expected_turn = degrees_diff(record_start_heading, dyn.heading) original_steer_angle = car.angle_for_steering(dyn.str) steer_angle = original_steer_angle + degrees_diff(actual_turn, expected_turn) str = car.steering_for_angle(steer_angle) car.set_esc_and_str(dyn.esc, str) car.set_manual_mode() print 'all done'
import time from car import Car car = Car() try: car.set_rc_mode() steer_angle = 0.0 max_angle = 30.0 min_angle = -max_angle step_seconds = 0.02 step = max_degrees_per_second * step_seconds while True: steer_angle += step if steer_angle >= max_angle: step = -abs(step) if steer_angle <= min_angle: step = abs(step) steer_ms = car.steering_for_angle(steer_angle) car.set_esc_and_str(1500, steer_ms) time.sleep(0.02) finally: car.set_manual_mode()
def play_route(route, car = None, print_progress = False, k_smooth = 0.4, d_ahead = 0.05, t_ahead = 0.2): last_ms = None #print route if car is None: car = Car() queue = Queue.Queue() try: car.set_rc_mode() car.add_listener(queue) message = queue.get(block=True, timeout = 0.5) #print repr(message) last_ms = message.ms start_time = time.time() # keep going until we run out of track car.lcd.display_text('press any key\nto abort') while car.lcd.getch() is None: try: message = queue.get(block=True, timeout = 0.5) except: print 'message timed out at: '+datetime.datetime.now().strftime("%H:%M:%S.%f") print 'last message received:' + repr(message) print raise (x,y) = car.front_position() (rear_x,rear_y) = car.rear_position() car_velocity = car.get_velocity_meters_per_second() route.set_position(x,y,rear_x,rear_y,car_velocity) steering_angle = steering_angle_by_look_ahead_curve(car,route,d_ahead,t_ahead) #steering_angle = steering_angle_by_look_ahead(car,route,d_ahead,t_ahead) str_ms = car.steering_for_angle(steering_angle) esc_ms = esc_for_velocity(route.velocity(), car, route.is_reverse()) if print_progress: print("t: {:.1f} i: {} xg: {:.2f} gy:{:.2f} gv: {:.2f} v:{:.2f} x: {:.2f} y:{:.2f} reverse: {} cte:{:.2f} heading:{:.2f} segment_heading: {:.2f} steering_degrees: {:.2f} esc:{}".format( time.time() - start_time, route.index, route.nodes[route.index+1].x, route.nodes[route.index+1].y, route.velocity(), car_velocity, x, y, route.is_reverse(), cte, car_heading, segment_heading, steering_angle, esc_ms)) # send to car car.set_esc_and_str(esc_ms, str_ms) if route.done() and car_velocity == 0: break; finally: car.set_esc_and_str(1500,1500) car.set_manual_mode() car.remove_listener(queue)
import time from car import Car from geometry import * #goal is to find a way to point the wheels straight ahead car = Car() time.sleep(1) original_heading = car.dynamics.heading car.set_rc_mode() speed = 1500 while(True): heading = angle_diff(original_heading, car.dynamics.heading) steering = car.steering_for_angle(-heading) car.set_esc_and_str(speed, steering) #print "Heading: {} Steering: {}".format(heading, steering) time.sleep(0.01) car.set_manual_mode()