import struct, time import kbhit from RobotCommunication import SerialCommands robot = SerialCommands('/dev/ttyAMA0',115200) kb = kbhit.KBHit() print robot.init() if __name__ == '__main__': robot.startLineFollowing(20) ###start line following with speed 1-127 while 1: if kb.kbhit(): ### check if the key is pressed key = kb.getch() if key == 'r': ##if pressed "r" go from left to right lane robot.laneChange(1) if key == 'l': ##if pressed "l" go from right to left lane robot.laneChange(-1) if key == 's': ## if pressed "s" stop the robot robot.init() break
sock.send(s) temp_data = sock.recvfrom(1024) dist = ord(temp_data[0]) tim = time.time() - ft print "time took :", tim rawCapture.truncate(0) return dist * 10, tim #return distance in mm if __name__ == '__main__': robot.startLineFollowing(50) v_now = 60 dist, t_im = findDist() P = 18 I = 1 err = 0 while (1): if dist > 0: if dist >= cruise_dist: err_prev = err err = (dist - v_now * t_im) - cruise_dist i_err = scipy.integrate.simps([int(err_prev), int(err)]) err_new = P * err + I * i_err temp_sp = min(v_desr, err * t_im)
temp_data = sock.recvfrom(1024) dist = ord(temp_data[0]) tim = time.time()-ft print "time took :",tim rawCapture.truncate(0) return dist*10,tim #return distance in mm if __name__ == '__main__': robot.startLineFollowing(50) v_now = 60 dist,t_im= findDist() P = 18 I = 1 err = 0 while (1): if dist>0: if dist >= cruise_dist: err_prev = err err = (dist-v_now*t_im) - cruise_dist i_err = scipy.integrate.simps([int(err_prev), int(err)]) err_new = P*err + I*i_err temp_sp = min(v_desr, err*t_im)
import time gps_pos = GPSServerConnection() robot = SerialCommands('/dev/ttyAMA0',115200) pos_x=[] pos_y=[] if __name__ == '__main__': pos,t = gps_pos.getPosition(1) pos_x.append(pos[0]) pos_y.append(pos[1]) robot.startLineFollowing(20) for i in range(1,40): pos_x.append(pos_x[i-1]+ (20*0.465*0.2)*0.2516) pos_y.append(pos_y[i-1]) time.sleep(0.2) print pos_x[39] robot.init() print gps_pos.getPosition(1)
from RobotCommunication import SerialCommands import numpy as np import time gps_pos = GPSServerConnection() robot = SerialCommands('/dev/ttyAMA0', 115200) pos_x = [] pos_y = [] if __name__ == '__main__': pos, t = gps_pos.getPosition(1) pos_x.append(pos[0]) pos_y.append(pos[1]) robot.startLineFollowing(20) for i in range(1, 40): pos_x.append(pos_x[i - 1] + (20 * 0.465 * 0.2) * 0.2516) pos_y.append(pos_y[i - 1]) time.sleep(0.2) print pos_x[39] robot.init() print gps_pos.getPosition(1)