Python getMeanAngle Exemples

Exemple #1

Fichier : challenge.py Projet : dsl12/lego_storm

fastParams.pidParameters.k_p = 270
fastParams.pidParameters.k_i = 400
fastParams.pidParameters.k_d = 160

# (273,21,-90), (525,21,-90), (21,21,-90)

startTime = datetime.now()
measurements = robot.turnSonarTakingMeasurements()

# Change sonar to move FASTAAAAAAAAAAAAR!
robot.setMotorAngleControllerParameters(robot.sonar_motor, fastParams)

# place.get_Loc(measurements)

robot.sonarSpin(-90)
toturn = robot.getMeanAngle(measurements) -13
toturn = toturn if toturn <= 180 else toturn - 360 

robot.turnLeftDeg(toturn)

robot.forward(disout)




#### ***Decide location
sonarRight = robot.getSonarMeasurements(1)[0]


robot.sonarSpin(-180)

Exemple #2

Fichier : test.py Projet : dsl12/lego_storm

import sys
sys.path.insert(0, '../')
from robot import robot

robot = robot(0, 0, 0, True, True)
robot.enableSonar()

measurements = [63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 65, 65, 65, 65, 65, 65, 67, 67, 67, 67, 67, 67, 67, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 30, 30, 30, 30, 30, 30, 68, 68, 68, 68, 68, 68, 68, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 65, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63, 63]

print measurements
print robot.getMeanAngle(measurements)

robot.terminate()

Exemple #3

fastParams.pidParameters.k_p = 270
fastParams.pidParameters.k_i = 400
fastParams.pidParameters.k_d = 160

# (273,21,-90), (525,21,-90), (21,21,-90)

startTime = datetime.now()
measurements = robot.turnSonarTakingMeasurements()

# Change sonar to move FASTAAAAAAAAAAAAR!
robot.setMotorAngleControllerParameters(robot.sonar_motor, fastParams)

# place.get_Loc(measurements)

robot.sonarSpin(-90)
toturn = robot.getMeanAngle(measurements) - 13
toturn = toturn if toturn <= 180 else toturn - 360

robot.turnLeftDeg(toturn)

robot.forward(disout)

#### ***Decide location
sonarRight = robot.getSonarMeasurements(1)[0]

robot.sonarSpin(-180)

sonarLeft = robot.getSonarMeasurements(1)[0]

if sonarRight > 30:
    if sonarLeft > 30: