from navigation.rc import RCLib from navigation.ac import ACLib import time import navigation.imu as imu rc = RCLib() ac = ACLib() rc.setmode('MANUAL') rc.arm() print(rc.getDeg()) # global "origin" parameter START = 239 DEPTH_SEC = 5.2 SEC_PER_METER = 1 GATECENTER = 2500 def leftAlign(value): pingReturn = ac.get_distance_fwd() wallDist = pingReturn[0] confidence = pingReturn[1] counter = 0 while ((confidence < 70) and (counter < 50)): pingReturn = ac.get_distance_fwd() wallDist = pingReturn[0] confidence = pingReturn[1] counter = counter + 1
from navigation.rc import RCLib import time import navigation.imu as imu rc = RCLib() rc.setmode('MANUAL') rc.arm() while (True): try: rc.getDeg() except: print('in loop')
from navigation.rc import RCLib import time import navigation.imu as imu rc = RCLib() rc.setmode('MANUAL') rc.arm() print(rc.getDeg()) #time.sleep(2) #rc.forward("time", 6, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 3, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 6, 0.25)` start = 72 + 180 rc.setmode('ALT_HOLD') rc.throttle("time", 3, -0.25) rc.imu_turn(start) rc.forward("time", 5, 0.35) rc.forward("time", 5, 0.35) rc.yaw("imu", -45, 0.2) rc.forward("time", 3, 0.25) rc.yaw("imu", 90, 0.2)
from navigation.rc import RCLib from navigation.ac import ACLib import time import navigation.imu as imu GATECENTER = 2000 rc = RCLib() ac = ACLib() rc.setmode('MANUAL') rc.arm() print(rc.getDeg()) # global "origin" parameter START = 67 DEPTH_SEC = 3 SEC_PER_METER = 1 # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", DEPTH_SEC, -0.25) # align with the origin rc.imu_turn(START) rc.forward("time", 6, 0.35) while (ac.get_distance_fwd()[0] > 7000): rc.forward("time", 1, 0.35) rc.imu_turn(START - 45)
from navigation.rc import RCLib import time import navigation.imu as imu rc = RCLib() rc.setmode('MANUAL') rc.arm() while (1): print(rc.getDeg()) rc.close()
from navigation.rc import RCLib import time import navigation.imu as imu from navigation.log import * log = LogLib() rc = RCLib(log) rc.setmode('ALT_HOLD') rc.arm() rc.throttle("time", 1, -0.5) start = rc.getDeg() rc.imu_turn(start + 90) #i=0 #while (i<50) : # rc.getDeg() # rc.raw("yaw", 1555) # i = i+1 #start = rc.getDeg() #print(start) #print('Now Yawing') #rc.yaw("imu", 45, 0.2) #turn=90
from navigation.rc import RCLib import time import navigation.imu as imu from navigation.log import * log = LogLib() rc = RCLib(log) rc.setmode('ALT_HOLD') rc.arm() print 'Throttle' rc.throttle("time", 3, -0.20) rc.throttle("time", 120, 0)
from navigation.rc import RCLib from navigation.ac import ACLib import time import navigation.imu as imu rc = RCLib() ac = ACLib() rc.setmode('ALT_HOLD') rc.arm() rc.throttle("time", 3, -0.20) #i = 0 #while i<500: # ac.get_distance_right() # rc.setmode('ALT_HOLD') # time.sleep(0.1) # i = i + 1 rc.forward("time", 6, 0.1) wallDist = 0 counter = 0 while ((ac.get_distance_right()[1] < 70) and (counter < 50)): wallDist = ac.get_distance_right()[0] counter = counter +1 print 'wall' , wallDist print 'counter ' , counter diff = ac.get_distance_right()[0] - 1500 print 'Laterl diff ' , diff
from navigation.rc import RCLib import time import navigation.imu as imu rc = RCLib() rc.setmode('MANUAL') rc.arm() print(rc.getDeg()) #time.sleep(2) #rc.forward("time", 6, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 3, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 6, 0.25)` start = 72 rc.setmode('ALT_HOLD') rc.throttle("time", 3, -0.25) while (1): rc.yaw("imu", 90, 0.15) #rc.imu_turn(121.5) #rc.yaw('imu', 90, 0.25)
from navigation.rc import RCLib from navigation.log import * log = LogLib() rc = RCLib(log) rc.disarm()
from navigation.rc import RCLib import time import navigation.imu as imu rc = RCLib() rc.setmode('MANUAL') rc.arm() print(rc.getDeg()) #time.sleep(2) #rc.forward("time", 6, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 3, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 6, 0.25)` start = 73 + 180 rc.setmode('ALT_HOLD') rc.throttle("time", 3, -0.25) rc.imu_turn(start) rc.forward("time", 5, 0.4) rc.imu_turn(start - 45) rc.forward("time", 1.5, 0.25) rc.imu_turn(start + 45) rc.forward("time", 1.5, 0.25)
from navigation.rc import RCLib from navigation.log import * import time import navigation.imu as imu log = LogLib() log.setLevel(INFO) rc = RCLib(log) rc.setmode('ALT_HOLD') rc.arm() rc.throttle("time", 1, -0.25) rc.forward("time", 5, 1) log.flush()
from navigation.rc import RCLib from navigation.ac import ACLib import time import navigation.imu as imu from navigation.log import * from navigation.fwdSonar import * log = LogLib() rc = RCLib(log) ac = ACLib() log.setLevel(INFO) fwdSonar = FwdSonarThread(ac, log) fwdSonar.start() rc.setmode('MANUAL') rc.arm() #print(rc.getDeg()) # global "origin" parameter START = 239 DEPTH_SEC = 5.2 SEC_PER_METER = 1 GATECENTER = 2500 def leftAlign(value): pingReturn = ac.get_distance_fwd()
# elif (steerinp < 0.15) : # steer = 0.15 # return steer #def fixAngle(): # error = rc.getDeg() - 48 # # while (abs(error) > 3): # steer = abs(error)*kP # steer = clipSteer(steer) # # if (error>0) rc.raw('yaw', (1500 - (400*steer)) elif (error<0) rc.raw('yaw', (1500 + (400*steer) # error = rc.getDeg() -48 originAngle = 48 rc = RCLib() rc.setmode('ALT_HOLD') rc.arm() #fixAngle() #endTime = time.time() + 7 #while(time.time() < endTime): # rc.raw('pitch', 1700) rc.throttle("time", 2.5, -0.5) rc.forward("time", 8, 0.4)