#!/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))
