from auvkit.path import Path, PathNode # Create a Path Object path = Path() # Tune the heading PID path.set_heading_pid(kP=0.3, kI=0.4, kD=0.5) # Tune the vertical PID path.set_vertical_pid(kP=0.3, kI=0.4, kD=0.5) # Tune the turning PID path.set_turning_pid(kP=0.3, kI=0.4, kD=0.5)
from auvkit.path import Path, PathNode # Create a Path Object path = Path() # Enable stabilize mode (optional) path.set_stabilize_mode() # Move 5 meters at an angle change of 45 degrees. # Then move, 10 meters at an angle change of 90 degrees. path.push(PathNode(5, 45, 0)) path.push(PathNode(10, 90, 0)) path.move_entire_route() # Alternatively, we can move one node at a time instead of through queues. path.move_one_node(PathNode(5, 135, 0))
from auvkit.path import Path, PathNode # Create a Path Object path = Path() # Enable stabilize mode (optional) path.set_stabilize_mode() # Enable depth hold mode (optional but recommended) path.set_depth_hold() # Move 3 meter downs. # Then move 1 meter up. path.push(PathNode(0, 0, 1)) path.push(PathNode(0, 0, 1)) path.move_entire_route()
from auvkit.path import Path # Create a Path Object path = Path() # Get the data fetcher from the path data_fetcher = path.data_fetcher # Read the temperature from the data fetcher data_fetcher.get_temp() # You can read other values as well, see docs for details
from auvkit.path import Path
from auvkit.data_fetcher import AtlasScientificSensor
# Create a Path Object
path = Path()
# Create an AtlasScientificSensor object and specify an identifier and the corresponding serial port
# Serial port varies based on configuration, /dev/ttyUSB1 is an example.
conductivity = AtlasScientificSensor(identifier="conductivity",
serial_port="/dev/ttyUSB1")
# Add the sensor to the path.
path.add_atlas_sensor_object(conductivity)
# Alternatively, you can add a sensor by passing in the identifier and serial port.
path.add_atlas_sensor(identifier="conductivity", serial_port="/dev/ttyUSB1")
# Read from the sensor
value_read = conductivity.read_sensor()
from auvkit.path import Path, PathNode # Create a Path Object path = Path() # Call function to write to CSV path.write_to_csv() # Can also specify filename if needed path.write_to_csv(filename="example.csv") # Move 5 meters at an angle change of 45 degrees. # Then move, 10 meters at an angle change of 90 degrees. path.push(PathNode(5, 45, 0)) path.push(PathNode(10, 90, 0)) path.move_entire_route()
from auvkit.path import Path # Create a Path Object path = Path() # Enable GPS path.enable_gps() # Make AUV go to certain GPS coordinates. Example given is GPS coordinate (-45, 74) path.go_to(-45, 74)