def main():
# Local functions in main function
global nextLocationIndex
global locations
global roverMotor
botCentered = False
locationAccuracy = 0.00001
print("Setting devices...")
compass = Compass("/dev/ttyACM0")
# roverMotor = Motor("/dev/ttyACM2")
roverGps = RoverGps()
# roverMotor.resetAllMotors()
print("All device set!")
sleep(2)
# Set the bot to point at next location
while not botCentered:
if centerBot(compass, 0, roverGps, roverMotor, 10):
botCentered = True
# sleep(0.1)
# os.system("clear")
# botCentered=False
# roverMotor.moveMotor("stop")
os.system("clear")
print("Rover centered!")
# roverMotor.resetAllMotors()
sleep(2)
print("Locations:", locations)
input('Press anything to continue!')
# =========
# Main Loop
# =========
while nextLocationIndex < len(locations):
# roverMotor.resetAllMotors()
try:
currentLocation = roverGps.getGpsData()
# print(roverGps)
except ValueError:
print("GPS not set")
continue
if currentLocation[0] == None:
print("GPS no location")
continue
if abs(currentLocation[0] -
locations[nextLocationIndex][0]) < locationAccuracy and abs(
currentLocation[1] -
locations[nextLocationIndex][1]) < locationAccuracy:
# roverMotor.moveMotor("stop")
nextLocationIndex += 1
if nextLocationIndex >= len(locations):
break
print(locations)
print("Location Reached!", currentLocation)
print("Press any key to continue")
input()
# sleep(2)
# Center bot to north
botCentered = False
while not botCentered:
# os.system("clear")
if centerBot(compass, 0, roverGps, roverMotor, 20):
print()
botCentered = True
botCentered = False
print("Press anything to continue to location",
locations[nextLocationIndex])
input()
continue
slope = getSlope(currentLocation)
# Move the rover to this slope
while not botCentered:
# os.system("clear")
slope = getSlope(currentLocation)
if centerBot(compass, slope, roverGps, roverMotor, 15):
botCentered = True
# sleep(0.5)
if not centerBot(compass, slope, roverGps, roverMotor, 15):
print()
botCentered = False
# # Move bot forward
# # os.system("clear")
try:
print("Move Forward",
roverGps.getGpsData(), locations[nextLocationIndex], slope,
compass.getCompassAngle())
# roverMotor.moveMotor('forward')
except ValueError:
print("Compass Value error")
print("Finished!")
def main():
try:
Gps = Gps()
compass = Compass()
global nextLocationIndex
global locations
except Exception as e:
print(str(e))
print("Error in creating the objects")
return
try:
while 1:
try:
for _i in range(len(locations)):
Reached = False
while(not Reached):
currentLocation = Gps.getGpsData()
slope = getSlope(currentLocation)
print(centerBot(compass, slope, Gps, 10))
Reached = isReached(Gps)
if(Reached):
sock.send("27".encode())
input("Reached "+str(nextLocationIndex) +
" Press anything to continue")
sleep(0.1)
nextLocationIndex += 1
except Exception as e:
print(str(e))
PORT = '/dev/ttyUSB0'
BUFFER_SIZE = 3
ser = serial.Serial(PORT)
command = -1
ignoreCommand = False
x = -1
toAngle = 0
try:
while True:
try:
data = ser.read(BUFFER_SIZE)
currentAngle = compass.getCompassAngle()
if(not ignoreCommand):
x=parseCommand(data)
print("\n")
if(x==27):
toAngle = currentAngle
print("Stop")
elif(x==87):
toAngle = currentAngle
print("Forward")
elif(x==65):
toAngle = (currentAngle - 90 + 360)%360
ignoreCommand = True
print("Left")
elif(x==68):
toAngle = (currentAngle + 90 + 360)%360
ignoreCommand = True
print("Right")
else:
print("Command Not Found ")
sock.send(str(x).encode())
os.system(cmd)
except Exception as e:
print(e)
ser.close()
ser = serial.Serial(PORT)
except Exception as e:
print(e)
finally:
ser.close()
except Exception as e:
print(str(e))
finally:
global sock
sock.close()
def main():
roverGps="dummy"
global nextLocationIndex
global locations
botCentered = False
locationAccuracy=0.00001
# locationAccuracy=2
initializedCurrentLocation=False
print("Setting devices...")
compass = Compass("/dev/ttyACM0")
# roverMotor = Motor("/dev/ttyACM0")
# roverGps = RoverGps()
# roverMotor.resetAllMotors()
print("All device set!")
#sleep(10)
# Set the bot to point at north
while not botCentered:
print("Centering Rover!",end=": ")
if centerBot(compass, 0, roverGps, 10):
botCentered=True
# sleep(0.1)
# os.system("clear")
# botCentered=False
os.system("clear")
print("Rover centered!")
# roverMotor.resetAllMotors()
sleep(2)
setScaledLocations()
print(locations)
sleep(2)
while nextLocationIndex < len(locations):
# while True:
# roverMotor.resetAllMotors()
try:
currentLocation = readGPS()
# currentLocation = roverGps.getGpsData()
# print(roverGps)
print(readGPS())
# print(roverGps.getGpsData())
except ValueError:
print("GPS not set")
continue
if currentLocation[0]==None:
print("GPs no locayion")
continue
if abs(currentLocation[0]-locations[nextLocationIndex][0])<locationAccuracy and abs(currentLocation[1]-locations[nextLocationIndex][1])<locationAccuracy:
nextLocationIndex+=1
if nextLocationIndex>=len(locations):
break
print(locations)
print("Location Reached!", currentLocation)
print("Press any key to continue")
input()
# sleep(2)
# Center bot to north
botCentered=False
while not botCentered:
# os.system("clear")
print("Centering Rover!",end=": ")
if centerBot(compass, 0, roverGps, 20):
print()
botCentered=True
botCentered=False
print("Press anything to continue to location", locations[nextLocationIndex])
input()
continue
slope = getSlope(currentLocation)
# Move the rover to this slope
while not botCentered:
# os.system("clear")
slope = getSlope(currentLocation)
try:
print("Centering Rover ", end=': ')
except ValueError:
print("Value Error")
if centerBot(compass, slope, roverGps, 15):
botCentered=True
# sleep(0.5)
if not centerBot(compass, slope, roverGps, 15):
print()
botCentered=False
# Move bot forward
# os.system("clear")
try:
print("Move Forward", readGPS(), slope, compass.getCompassAngle(), abs(slope)-abs(compass.getCompassAngle()))
#roverMotor.forwardMotor()
except ValueError:
print("Compass Value error")
print("Finished!")
def main():
# Local functions in main function
global nextLocationIndex
global locations
global roverMotor
botCentered = False
locationAccuracy = 0.000005
print("Setting devices...")
compass = Compass("/dev/ttyACM0")
roverMotor = Motor(('192.168.43.94', 12345))
try:
roverGps = RoverGps()
except OSError:
print("GPSD not started!")
exit(-1)
roverMotor.moveMotor('stop')
print("All device set!")
sleep(1)
roverMotor.moveMotor('stop')
# Set the bot to point at next location
while not (170 < compass.getCompassAngle()
and compass.getCompassAngle() < 180):
print(compass.getCompassAngle())
# os.system("clear")
botCentered = False
# Rotate Rover Once
# angle = compass.getCompassAngle()-100
# while compass.getCompassAngle()>angle or compass.getCompassAngle()<angle:
# print("Calibration!")
# roverMotor.moveMotor('left')
roverMotor.moveMotor("stop")
os.system("clear")
print("Rover centered!")
roverMotor.moveMotor('stop')
sleep(2)
# roverMotor.resetAllMotors()
print("Locations:", locations)
# input('Press anything to continue!')
sleep(2)
# =========
# Main Loop
# =========
while nextLocationIndex < len(locations):
# roverMotor.resetAllMotors()
try:
currentLocation = roverGps.getGpsData()
# print(roverGps)
except ValueError:
print("GPS not set")
continue
if currentLocation[0] == None:
print("GPS no location")
continue
if abs(currentLocation[0] -
locations[nextLocationIndex][0]) < locationAccuracy and abs(
currentLocation[1] -
locations[nextLocationIndex][1]) < locationAccuracy:
roverMotor.moveMotor("stop")
nextLocationIndex += 1
if nextLocationIndex >= len(locations):
break
print(locations)
print("Location Reached!", currentLocation)
print("Coninue to next location")
# input()
sleep(2)
# Center bot to north
botCentered = False
while not botCentered:
# os.system("clear")
if centerBot(compass, 0, roverGps, roverMotor, 20):
print()
botCentered = True
botCentered = False
print("Continue to location", locations[nextLocationIndex])
# input()
continue
slope = getSlope(currentLocation)
# Move the rover to this slope
while not botCentered:
# os.system("clear")
slope = getSlope(currentLocation)
if centerBot(compass, slope, roverGps, roverMotor, 10):
botCentered = True
# sleep(0.5)
if not centerBot(compass, slope, roverGps, roverMotor, 10):
print()
botCentered = False
# # Move bot forward
# # os.system("clear")
try:
print("Move Forward",
roverGps.getGpsData(), locations[nextLocationIndex], slope,
compass.getCompassAngle())
# roverMotor.moveMotor('forward')
roverMotor.moveMotor('forward')
except ValueError:
print("Compass Value error")
roverMotor.moveMotor('stop')
print("Finished!")