def course_pool():
stop()
# Uターン地点まで行く(海上)
led_red()
go_yaw_onoff_iki(set_speed=30, set_rot=400, set_diving=80)
# go_yaw_onoff_iki(set_speed=30, set_rot=200, set_diving=5)
led_off()
# Uターン地点まで行く(潜水)
# led_blue()
# go_yaw_onoff_iki(set_speed=30, set_rot=200, set_diving=60)
# led_off()
# 浮上
stop()
led_green()
up_down(60)
time.sleep(5)
stop()
led_off()
# 設定地点まで自動で移動
waypoint_data = {1:{'lat': 26.377735, 'lng': 127.822441667}}
waypoint(waypoint_data = waypoint_data)
print("aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa")
# # Uターン
# # yaw(100, set_diving=False)
# led_purple()
# yaw_rot(set_rot=30, set_diving=True)
# led_off()
# 所定の深さまで沈む
diving_while(30)
# スタート地点まで行く(潜水)
led_blue()
go_yaw_onoff_kaeri(set_speed=30, set_rot=420, set_diving=80)
# go_yaw_onoff_kaeri(set_speed=30, set_rot=210, set_diving=80)
led_off()
# スタート地点まで行く(海上)
# led_red()
# go_yaw_onoff_kaeri(set_speed=30, set_rot=200, set_diving=5)
# led_off()
# 浮上
stop()
led_green()
up_down(60)
time.sleep(2)
my_exit()
def course_convention():
stop()
# Uターン地点まで行く(海上)
led_red()
go_yaw_onoff_iki(set_speed=30, set_rot=250, set_diving=5)
led_off()
# Uターン地点まで行く(潜水)
led_blue()
go_yaw_onoff_iki(set_speed=50, set_rot=880, set_diving=60)
led_off()
# 浮上
stop()
led_green()
up_down(60)
time.sleep(5)
stop()
led_off()
# Uターン
# yaw(100, set_diving=False)
led_purple()
yaw_rot(set_rot=20, set_diving=True)
led_off()
# 所定の深さまで沈む
diving_while(30)
# スタート地点まで行く(潜水)
led_blue()
go_yaw_onoff_kaeri(set_speed=30, set_rot=800, set_diving=60)
led_off()
# スタート地点まで行く(海上)
led_red()
go_yaw_onoff_kaeri(set_speed=30, set_rot=400, set_diving=5)
led_off()
# 浮上
stop()
led_green()
up_down(60)
time.sleep(2)
my_exit()
def test():
gps_route_data_file = open('/kaiyo/log/gsp_route_data/gps_route_data.txt',
'r')
waypoint_route_data = {}
cnt = 0
while True:
gps_route_data = gps_route_data_file.readline()
if gps_route_data:
gps_route_data = ast.literal_eval(gps_route_data)
gps_route_data.pop("datetime")
gps_route_data.pop("alt")
waypoint_route_data[cnt] = gps_route_data
cnt += 1
else:
print waypoint_route_data
# 移動開始
waypoint(waypoint_data=waypoint_route_data)
break
# -------------------------------------------------------------------
if __name__ == '__main__':
try:
pad_rc_route_data_creation()
# test()
my_exit()
except KeyboardInterrupt as e:
my_exit()