#!/usr/bin/env python import sys, os, time, json import picamera from lib.utils import dbprint from lib.camera import update_img from lib.frobo_ng import frobo_ng if __name__ == '__main__': clockwise = int(sys.argv[1]) c = frobo_ng() c.debug = True with picamera.PiCamera() as camera: try: c.update_state() print 'BEFORE %s cm to %s' % (c.state['sonar'], c.heading()) c.find_distance(1, clockwise=clockwise) print 'AFTER %s cm to %s' % (c.state['sonar'], c.heading()) json.dump(c.dots, file('dots.json', 'w'), indent=2) finally: update_img(camera)
from lib.utils import html_data_path from lib.utils import dbprint from lib.camera import update_img, FeatureProcess from lib.frobo_ng import frobo_ng if __name__ == '__main__': c = frobo_ng() #c.debug = True with picamera.PiCamera() as camera: fp = FeatureProcess(camera) try: update_img(camera, html_data_path('pic0.jpg')) c.turn(350) time.sleep(1) update_img(camera, 'images/pic1.jpg')) fp.percent() c.move_straight(fwd=True, max_steps=c.m2steps(0.5), max_secs=1) update_img(camera, html_data_path('pic2.jpg')) time.sleep(1) c.turn(90) time.sleep(1) c.move_straight(fwd=True, max_steps=c.m2steps(0.5), max_secs=1) update_img(camera, html_data_path('pic3.jpg')) time.sleep(1) c.turn(210) time.sleep(1) c.move_straight(fwd=True, max_steps=c.m2steps(0.5), max_secs=1)
import sys, os, time, json import picamera from lib.utils import dbprint from lib.camera import update_img from lib.frobo_ng import frobo_ng if __name__ == '__main__': c = frobo_ng() c.debug = True t = time.time() try: dbprint('BEFORE %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount'])) data = c.collect_turn_data(cnt=30) # data = c.collect_turn_data(cnt=100, pwr=50, dT=1, clockwise=True) dbprint('AFTER %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount'])) c.wait_until_stop() json.dump(data, file('data.json', 'w'), indent=2) finally: c.cmd_mstop() update_img(picamera.PiCamera()) dbprint('EVENTUALLY %d (%d:%d), dist:%g, dT:%d' % (c.heading(), c.state['lcount'], c.state['rcount'], c.state['sonar'], time.time() - t))
import sys, time, json from lib.frobo_ng import frobo_ng import picamera from lib.camera import update_img from lib.utils import dbprint dist = float(sys.argv[1]) debug = False c = frobo_ng(debug=debug) cam = picamera.PiCamera() try: azim = c.heading() dbprint('BEFORE %d (%d:%d)' % (azim, c.state['lcount'], c.state['rcount'])) c.move_straight(fwd=True, max_steps=c.m2steps(dist), max_secs=1) dbprint('AFTER FWD %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount'])) update_img(cam) azim -= 180 dbprint("Turning around to %d" % azim) c.turn(azim, err=5) dbprint('AFTER TURN %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount'])) json.dump(c.dots, file('dots.json', 'w'), indent=2) finally: update_img(cam) c.update_state() dbprint('EVENTUALLY %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount']))
import picamera from lib.utils import dbprint from lib.camera import update_img from lib.frobo_ng import frobo_ng if __name__ == '__main__': right = int(sys.argv[1]) c = frobo_ng() c.debug = True with picamera.PiCamera() as camera: h = c.heading() try: update_img(camera, 'pic0.jpg') c.turn((h + (1 if right else -1) * 90) % 360, err=10) c.move_straight(fwd=True, max_secs=20, max_steps=c.m2steps(0.5)) update_img(camera, 'pic1.jpg') c.turn(h, err=5) json.dump(c.dots, file('dots.json', 'w'), indent=2) finally: c.cmd_mstop() c.update_state() update_img(camera) change = c.heading() - h dbprint('EVENTUALLY %d dist=%g, turn=%g' % (c.heading(), c.state['sonar'], change))