from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.0
rotate_rads = 0.0
def update_twist():
"""send twist to driver and change light color if moving"""
if linear_ms == 0.0 and rotate_rads == 0.0:
romi.pixels(0, 0, 100)
else:
romi.pixels(0, 100, 0)
romi.twist(linear_ms, rotate_rads)
# all set up, now run the robot
t_end = time.time() + 900
t_end1 = time.time() + 1
while True:
linear_ms = 0
rotate_rads = .2
update_twist()
if t_end1 < time.time():
break
# stop motors and shut down light
romi.twist(0.0, 0.0)
romi.pixels(0, 0, 0)
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
distance = 10.0
runtime = 15.0
romi.twist(2 * 3.14 * distance / runtime, 2 * 3.14 / runtime)
time.sleep(runtime)
romi.twist(0.0, 0.0)
print("all done.")
print(args)
romi = AStar()
def monitor_pose():
monitor_freq_hz = 2.0
# move forward for two seconds
i = 0
while True:
print("{:} : poses ->"
" motor m/s {:}"
" twist_tuple {:}".format(i / monitor_freq_hz,
romi.read_pose_motors(),
romi.read_pose_twist()))
# print motor_speeds for two seconds
i = i + 1
time.sleep(1.0 / monitor_freq_hz)
romi.twist(args.twist_linear, args.twist_angular)
if args.twist_linear == 0.0 and args.twist_angular == 0.0:
romi.pixels(0, 0, 255)
else:
romi.pixels(0, 255, 0)
time.sleep(args.time)
romi.twist(0.0, 0.0)
print("all done.")
def monitor_pose(duration_s):
monitor_freq_hz = 2.0
# move forward for two seconds
for i in range(0, int(duration_s*monitor_freq_hz)):
print("{:} twist {:}"
" motor speed m/s {:}"
" pose_twist {:}".format(
i / monitor_freq_hz,
romi.read_twist(),
romi.read_pose_motors(),
romi.read_pose_twist()))
# print motor_speeds for two seconds
time.sleep(1.0/monitor_freq_hz)
print("initializing...")
romi.pixels(0,0,255)
print("moving forwards...")
# twist format is forward vector, rotation vector
romi.twist(forward_speed_m_s, stop_speed_m_s)
romi.pixels(0,255,0)
# move forward for two seconds
monitor_pose(2.0)
print("stopping.")
romi.twist(stop_speed_m_s, stop_speed_m_s)
romi.pixels(0,0,255)
monitor_pose(10.0)
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
motor_delay_s = 5.0
forward_speed_m_s = 0.25
stop_speed_m_s = 1.25
romi = AStar()
# int main()
# turn off all LEDs
romi.leds(False, False, False)
romi.pixels(0, 0, 0)
print("Displaying Circle Code")
var = input("Press s/S to stop and any key to continue: ") #input
while var != "s" and var != "S":
currentTime = time.time()
nextTime = currentTime + motor_delay_s
while currentTime < nextTime: #loops for prev time delay
romi.twist(forward_speed_m_s, stop_speed_m_s) # makes a circle
currentTime = time.time()
romi.twist(0.0, 0.0) # stop
var = input("Press s/S to stop and any key to continue: ") #input
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
distance = 15
sides = 4
for j in range(sides):
for i in range(distance):
romi.twist(distance, 0.0)
time.sleep(1.0)
romi.twist(0.0, 3.14 / 2)
time.sleep(1.0)
romi.twist(0.0, 0.0)
print("all done.")
motor_delay_s = 2.2
forward_speed_m_s = 0.25
stop_speed_m_s = 0.0
romi = AStar()
# int main()
# turn off all LEDs
romi.leds(False, False, False)
romi.pixels(0, 0, 0)
print("Displaying Square Code")
var = input("Press s/S to stop and any key to continue: ") #input
while var != "s" and var != "S":
# twist format is forward vector, rotation vector
# moves in square
for i in range(4):
currentTime = time.time()
nextTime = currentTime + motor_delay_s # next time
while currentTime < nextTime: # loops for prev time
romi.twist(forward_speed_m_s, stop_speed_m_s) #go forward
currentTime = time.time()
romi.twist(stop_speed_m_s, stop_speed_m_s) # stop
currentTime = time.time()
nextTime = currentTime + (motor_delay_s / 2.0)
while currentTime < nextTime: # loops for prev time
romi.twist(stop_speed_m_s, 3.14159265358979323846 / 2) #turns
currentTime = time.time()
romi.twist(stop_speed_m_s, stop_speed_m_s) # stop
var = input("Press s/S to stop and any key to continue: ") #input
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.1
rotate_rads = 0.5
count = 0
finalCount = 48000
print("initializing...")
#romi.pixels(0,0,255)
print("begin circle...")
while(True):
romi.twist(linear_ms,rotate_rads)
count += 1
if (count == finalCount):
break
