from sw.mapping import Mapper
from sw.mapping.arena import Arena
from sw.vision import Vision, CameraPanel, Camera
from sw.gui import window, ControlPanel
from sw.hal import *
from sw import constants
import pygame
import time
from tamproxy import TAMProxy
if __name__ == "__main__":
cam = Camera(geom=constants.camera_geometry, id=1)
v = Vision(cam)
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer,
map=Arena.load('../sw/mapping/red_map.txt'))
w = window.Window(
500, [m, CameraPanel(v), ControlPanel(r)
]) #[Mapper(drive.odometer), CameraPanel(500, v)])
while True:
v.update()
m.update_cubes_from(v)
time.sleep(0.05)
pass
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
from sw import pins
from tamproxy.devices import Odometer
from tamproxy.devices import Gyro
from tamproxy.devices import Encoder
from tamproxy import TAMProxy
import time
if __name__ == "__main__":
tamp = TAMProxy()
gyro = Gyro(tamp, pins.gyro_cs, integrate=False)
lEnc = Encoder(tamp, pins.l_encoder_a, pins.l_encoder_b, continuous = False)
rEnc = Encoder(tamp, pins.r_encoder_a, pins.r_encoder_b, continuous = False)
odo = Odometer(tamp, lEnc, rEnc, gyro, 0.0)
while True:
odo.update()
lEnc.update()
rEnc.update()
print odo.val
print lEnc.val
print rEnc.val
time.sleep(0.05)
