def launch(self):
self.start = round(time.time(),2)
self.stop = round(self.start+self.runTime,2)
velchange.goXYOmegaTheta(self.vel_x, self.vel_y, self.omega, self.theta)
while(time.time() < self.stop):
pass
velchange.goXYOmega(0,0,0)
def launch(self):
self.start = round(time.time(), 2)
self.stop = round(self.start + self.runTime, 2)
velchange.goXYOmegaTheta(self.vel_x, self.vel_y, self.omega,
self.theta)
while (time.time() < self.stop):
pass
velchange.goXYOmega(0, 0, 0)
def execute(self): velchange.goXYOmega(self.vel_x, self.vel_y, self.omega) self.timestamp = getTime()
#!/usr/bin/python
from motor_control import velchange
import math
import time
scale = .3
velchange.goXYOmega(scale, 0, 0)
time.sleep(1)
velchange.goXYOmega(0, 0, 0)
time.sleep(1)
velchange.goXYOmega(-scale, 0, 0)
time.sleep(1)
velchange.goXYOmega(0, 0, 0)
time.sleep(1)
velchange.goXYOmega(scale * math.cos(2 * math.pi / 3),
scale * math.sin(2 * math.pi / 3), 0)
time.sleep(1)
velchange.goXYOmega(0, 0, 0)
time.sleep(1)
velchange.goXYOmega(-math.cos(2 * math.pi / 3) * scale,
-math.sin(2 * math.pi / 3) * scale, 0)
time.sleep(1)
velchange.goXYOmega(0, 0, 0)
time.sleep(1)
velchange.goXYOmega(
math.cos(-2 * math.pi / 3) * scale,
math.sin(-2 * math.pi / 3) * scale, 0)
time.sleep(1)
velchange.goXYOmega(0, 0, 0)
time.sleep(1)
velchange.goXYOmega(-math.cos(-2 * math.pi / 3) * scale,
from kalman_filter import Robot
from param import *
from motor_control import velchange
import Point
import MotionSkills
import time
from motor_control import roboclaw
print("Go to point")
#this sets the pid constants
roboclaw.calibrateRoboclaws()
Motion_Skills = MotionSkills.MotionSkills()
state = Robot.State()
desiredPoint = Point.Point(1.75, 0.5)
command = Motion_Skills.go_to_point(state, desiredPoint)
velchange.goXYOmega(command.vel_x, command.vel_y, 0)
print("Run Time: %s" % command.runTime)
time.sleep(command.runTime)
velchange.goXYOmega(0,0,0)
def execute(self):
velchange.goXYOmega(self.vel_x, self.vel_y, self.omega)
self.timestamp = getTime()
#!/usr/bin/python from motor_control import velchange import math import time scale = .3 velchange.goXYOmega(scale,0,0) time.sleep(1) velchange.goXYOmega(0,0,0) time.sleep(1) velchange.goXYOmega(-scale,0,0) time.sleep(1) velchange.goXYOmega(0,0,0) time.sleep(1) velchange.goXYOmega(scale*math.cos(2*math.pi/3),scale*math.sin(2*math.pi/3),0) time.sleep(1) velchange.goXYOmega(0,0,0) time.sleep(1) velchange.goXYOmega(-math.cos(2*math.pi/3)*scale,-math.sin(2*math.pi/3)*scale,0) time.sleep(1) velchange.goXYOmega(0,0,0) time.sleep(1) velchange.goXYOmega(math.cos(-2*math.pi/3)*scale,math.sin(-2*math.pi/3)*scale,0) time.sleep(1) velchange.goXYOmega(0,0,0) time.sleep(1) velchange.goXYOmega(-math.cos(-2*math.pi/3)*scale,-math.sin(-2*math.pi/3)*scale,0) time.sleep(1) velchange.goXYOmega(0,0,0)
