def run_fill_pattern(robot, long_side, speed, conf):
STEP = conf['step']
RAD1 = 2.0
RAD2 = RAD1 + STEP / 2.0
SAFETY = 2.0
for i in range(10):
Y = i * STEP
follow_line(robot,
Line((RAD1 + SAFETY, Y), (long_side - RAD2 - SAFETY, Y)),
speed=speed,
timeout=60)
turn(robot,
math.radians(180),
radius=RAD2,
speed=speed,
with_stop=True,
timeout=60.0)
follow_line(robot,
Line((long_side - RAD2 - SAFETY, Y + 2 * RAD2),
(RAD1 + SAFETY, Y + 2 * RAD2)),
speed=speed,
timeout=60)
turn(robot,
math.radians(180),
radius=RAD1,
speed=speed,
with_stop=True,
timeout=60.0)
def run_oval(robot, speed):
robot.set_desired_speed(speed)
follow_line(robot, Line((0, 0), (4.0, 0)))
turn(robot, math.radians(180), radius=2.0, speed=speed, with_stop=False, timeout=20.0)
# TODO change second radius once the localization & navigation are repeatable
follow_line(robot, Line((4.0, 4.0), (0, 4.0)))
turn(robot, math.radians(180), radius=2.0, speed=speed, with_stop=False, timeout=20.0)
def run_mapping(robot, speed, laser_detector):
for i in range(4):
nav2cone(robot, speed, laser_detector)
turn(robot,
math.radians(75),
radius=2.0 + 1.5,
speed=speed,
with_stop=False,
timeout=60.0)
def run_oval(robot, speed):
robot.set_desired_speed(speed)
follow_line(robot, Line((5, 0), (10, 0)), speed=speed, timeout=60)
robot.canproxy.stop()
turn(robot, math.radians(180), radius=2.5, speed=speed, with_stop=True, timeout=60.0)
# TODO change second radius once the localization & navigation are repeatable
follow_line(robot, Line((10, 5), (5, 5)), speed=speed, timeout=60)
robot.canproxy.stop()
turn(robot, math.radians(180), radius=2.5, speed=speed, with_stop=True, timeout=60.0)
def run_fill_pattern(robot, long_side, speed, conf):
STEP = conf['step']
RAD1 = 2.0
RAD2 = RAD1 + STEP/2.0
SAFETY = 2.0
for i in range(10):
Y = i * STEP
follow_line(robot, Line((RAD1+SAFETY, Y), (long_side-RAD2-SAFETY, Y)), speed=speed, timeout=60)
turn(robot, math.radians(180), radius=RAD2, speed=speed, with_stop=True, timeout=60.0)
follow_line(robot, Line((long_side-RAD2-SAFETY, Y+2*RAD2), (RAD1+SAFETY, Y+2*RAD2)), speed=speed, timeout=60)
turn(robot, math.radians(180), radius=RAD1, speed=speed, with_stop=True, timeout=60.0)
def run_oval(robot, speed):
robot.set_desired_speed(speed)
follow_line(robot, Line((0, 0), (4.0, 0)))
turn(robot,
math.radians(180),
radius=2.0,
speed=speed,
with_stop=False,
timeout=20.0)
# TODO change second radius once the localization & navigation are repeatable
follow_line(robot, Line((4.0, 4.0), (0, 4.0)))
turn(robot,
math.radians(180),
radius=2.0,
speed=speed,
with_stop=False,
timeout=20.0)
def run_oval(robot, speed):
robot.set_desired_speed(speed)
follow_line(robot, Line((5, 0), (10, 0)), speed=speed, timeout=60)
robot.canproxy.stop()
turn(robot,
math.radians(180),
radius=2.5,
speed=speed,
with_stop=True,
timeout=60.0)
# TODO change second radius once the localization & navigation are repeatable
follow_line(robot, Line((10, 5), (5, 5)), speed=speed, timeout=60)
robot.canproxy.stop()
turn(robot,
math.radians(180),
radius=2.5,
speed=speed,
with_stop=True,
timeout=60.0)
def turn_back(robot, speed):
turn(robot,
math.radians(-60),
radius=2.0,
speed=speed,
with_stop=True,
timeout=30.0) # right
turn(robot,
math.radians(-60),
radius=2.0,
speed=-speed,
with_stop=True,
timeout=30.0) # backup
turn(robot,
math.radians(-60),
radius=2.0,
speed=speed,
with_stop=True,
timeout=30.0) # right again
def run_mapping(robot, speed, laser_detector):
for i in range(4):
nav2cone(robot, speed, laser_detector)
turn(robot, math.radians(75), radius=2.0+1.5, speed=speed, with_stop=False, timeout=60.0)
def turn_back(robot, speed):
turn(robot, math.radians(-60), radius=2.0, speed=speed, with_stop=True, timeout=30.0) # right
turn(robot, math.radians(-60), radius=2.0, speed=-speed, with_stop=True, timeout=30.0) # backup
turn(robot, math.radians(-60), radius=2.0, speed=speed, with_stop=True, timeout=30.0) # right again