def main(args):
bbbl = christine_hwi_ext.BBBLink()
bbbl.init()
#pass_dsm(bbbl)
#steering_sin(bbbl)
#throttle_sin(bbbl)
throttle_sin(bbbl, b=0.0, a=60.)
def main():
use_bbbl = True
if not use_bbbl:
od = odrive_ascii_cpp_ext.Odrive()
od.init()
bbbl = None
else:
bbbl = christine_hwi_ext.BBBLink()
bbbl.init()
od = None
measure(od, bbbl, nb_rev=1.)
def measure(filename='/tmp/foo.npz'):
bbbl = christine_hwi_ext.BBBLink()
bbbl.init()
dt, n_samples = 0.02, 500
_time, throttle, mot_vel = np.zeros(n_samples), np.zeros(
n_samples), np.zeros(n_samples)
for i in range(n_samples):
_start = _time[i] = time.time()
steering, throttle[i] = 0, 0.06 + 0.01 * np.sin(0.9 * time.time())
bbbl.send(steering, throttle[i])
mot_pos, mot_vel[i] = bbbl.get_motor()
_end = time.time()
elapsed = _end - _start
time_to_sleep = dt - elapsed
if time_to_sleep > 0: time.sleep(time_to_sleep)
np.savez(filename, time=_time, throttle=throttle, mot_vel=mot_vel)
return time, throttle, mot_vel
def main():
bbbl = christine_hwi_ext.BBBLink()
bbbl.init()
drive(bbbl, vel_cps=60, R=0.75)
def __init__(self):
self.bbbl = christine_hwi_ext.BBBLink()
self.bbbl.init()
self.robot_listener = tdgru.SmocapListener()
self.time, self.inputs, self.mot, self.pos, self.yaw = [], [], [], [], []