def exitCallback():
global gb, do_exit
do_exit = True
if gb != None:
time.sleep(0.5)
for address in gnbot_list.keys():
endRobot(address)
gb.halt()
gb = None
atexit.register(exitCallback)
gb = GNBot(gnbot_received_callback, '/dev/ttyUSB0', 9600)
print("Waiting for packets...")
plt.ion()
fig = plt.figure(figsize=(8.0, 8.0))
ax = fig.add_subplot(122)
colors = ['r', 'g', 'b', 'c', 'y']
ax2 = fig.add_subplot(121)
cap = cv2.VideoCapture(0)
width = 1280 #leave None for auto-detection
height = 720 #leave None for auto-detection
cap.set(cv.CV_CAP_PROP_FRAME_WIDTH, width)
print("NEW GNBOT ADDED! Address: " + repr(address))
gnbot_addresses.append(address)
try:
IRdistanceCM = mapVals(received_data['IRdistanceCM'], 0.,65535., 0.,150.)
IMUyaw = mapVals(received_data['IMUyaw'], 0.,65535., -np.pi,np.pi)
print IMUyaw, IRdistanceCM
scan_data.append((IMUyaw, IRdistanceCM))
time_last = time.time()
except:
if len(received_data.keys()) > 0:
print(received_data)
if len(scan_data) > 0:
if time.time()-time_last > 2:
done = True
gb = GNBot(gnbot_received_callback, '/dev/ttyUSB0', 9600)
print("Waiting for packets...")
distance_increment = 20
multi_scans = []
while 1:
fail = False
direction = raw_input()
angle = 0
if direction == 'l':
angle = -90
#!/usr/bin/python
import time
from GNBot.GNBot import GNBot
gnbot_addresses = []
def gnbot_received_callback(address, received_data):
global gb, gnbot_addresses
if not address in gnbot_addresses:
print("NEW GNBOT ADDED! Address: " + repr(address))
gnbot_addresses.append(address)
else:
print("Received packet from: " + repr(address))
print(received_data)
gb = GNBot(gnbot_received_callback, '/dev/ttyUSB0', 9600)
print("Waiting for packets...")
while 1:
for address in gnbot_addresses:
values = gb.createValue("motorL", 10)
values += gb.createValue("motorR", 10)
values += gb.createValue("delay", 2000)
values += gb.createValue("motorL", 0)
values += gb.createValue("motorR", 0)
gb.sendPUTcommand(address, values)
time.sleep(5)
import time
from GNBot.GNBot import GNBot
gnbot_addresses = []
def gnbot_received_callback(address, received_data):
global gb, gnbot_addresses
if not address in gnbot_addresses:
print("NEW GNBOT ADDED! Address: " + repr(address))
gnbot_addresses.append(address)
else:
print("Received packet from: " + repr(address))
print(received_data)
gb = GNBot(gnbot_received_callback, '/dev/ttyUSB0', 9600)
print("Waiting for packets...")
while 1:
for address in gnbot_addresses:
values = gb.createValue("motorL", 10)
values += gb.createValue("motorR", 10)
values += gb.createValue("delay", 2000)
values += gb.createValue("motorL", 0)
values += gb.createValue("motorR", 0)
gb.sendPUTcommand(address, values)
time.sleep(5)
