import serial from backend.interface import Interface #setup serial connection arduino = Interface() #temp robot setup max_speed = 40 #in/s while True: in_left_speed = input("Enter left speed: ") in_right_speed = input("Enter right speed: ") print(' ') arduino.sendWheelSpeeds(in_left_speed, in_right_speed)
import serial from backend.interface import Interface from backend.gen_suite import Pose, Path, Trajectory, Robot import time arduino = Interface() waypoints = [Pose(0,0,0), Pose(70, 30, 90)] path = Path(waypoints) robot = Robot(190 * 0.03937, 20, 5) trajectory = Trajectory(robot, path) traj_time = time.time() total_traj_time = trajectory.trajectory[-1].time while (time.time() - traj_time) <= total_traj_time: t = time.time() - traj_time state = trajectory.sample(t) print(state.curvature) left_speed, right_speed = robot.get_wheel_speeds_from_state(state) arduino.sendWheelSpeeds(left_speed, right_speed) print('FINISHED')