def main():
# get command line args
args = handleArgs()
port = args['port']
dt = args['sleep']
# create print monitor
mon = Monitor()
# create robot
bot = pycreate2.Create2(port)
bot.start()
bot.safe()
# now run forever, until someone hits ctrl-C
try:
while True:
try:
sensor_state = bot.get_sensors()
mon.display_raw(sensor_state)
time.sleep(dt)
except Exception as e:
print(e)
continue
except:
raise
except KeyboardInterrupt:
print('bye ... ')
def __init__(self, sock):
command = "ls /dev | grep cu.usb" # ！ここに実行したいコマンドを書く！
proc = subprocess.Popen(command,
shell=True,
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE)
stdout_data, stderr_data = proc.communicate() # 処理実行を待つ
rmb_port = "/dev/" + stdout_data.decode("utf-8")[:-1] # 標準出力の確認
rmb_baudrate = 115200
self.rmb = pycreate2.Create2(rmb_port, rmb_baudrate)
# 学習時にはTrue 評価時にはFalse
# self.learnFlag = True
self.learnFlag = True
self.nowSpeed = [0, 0]
self.max_speed = 500
self.name = 'rmb'
cv2.namedWindow(self.name)
self.cap = cv2.VideoCapture(0)
self.cap.set(3, 640) # カメラの横のサイズ
self.cap.set(4, 480) # カメラの縦のサイズ
self.lineXs = [320 + 100, 320 - 100]
self.lineYs = [100, 200, 300, 350]
self.clf = tree.DecisionTreeClassifier(max_depth=6)
if self.learnFlag == True:
self.datafile, self.writer = self.openDataFile()
else:
self.data_analysis()
self.sock = sock
print("init")
self.rmb_start()
def main():
args = handleArgs()
port = args['port']
baud = args['baud']
bot = pycreate2.Create2(port=port, baud=baud)
bot.start()
ret = bot.reset()
print(ret)
def main():
port = "/dev/ttyUSB0"
baud = 115200
bot = pycreate2.Create2(port=port, baud=baud)
bot.start()
ret = bot.reset()
print(ret)
packet = bot.SCI.read_and_print_all()
def __init__(self, port='/dev/ttyUSB0'):
self.bot = pycreate2.Create2(port)
# self.js = Joystick()
self.camera = Camera(cam='cv')
self.camera.init(win=(320, 240), cameraNumber=0)
# only create if on linux, because:
# imu needs access to i2c
# adc needs access to spi
# if platform.system() == 'Linux':
# self.imu = IMU()
# self.adc = MCP3208()
print('Start')
print(self.bot.inputCommands([35]))
def main():
port = '/dev/ttyUSB0'
bot = bot = pycreate2.Create2(port)
bot.start()
bot.safe()
bot.drive_stop()
image_size = (320, 240)
camera = Camera(cam='pi')
camera.init(win=image_size)
imu = IMU()
bag = BagWriter()
bag.open(['camera', 'accel', 'mag', 'cr'])
bag.stringify('camera')
bag.use_compression = True
try:
for i in range(100):
ret, frame = camera.read()
if ret:
bag.push('camera', frame)
else:
print('>> bad frame', i)
sen = bot.get_sensors()
bag.push('cr', sen)
a, m, g = imu.get()
bag.push('accel', a)
bag.push('mag', m)
# time.sleep(0.025)
print(i)
except KeyboardInterrupt:
print(' ctrl-c pressed, bye ...')
except Exception as e:
print('')
print('Something else happened ... :(')
print('Maybe the robot is not on ... press the start button')
print('-'*30)
print(e)
bag.write('test.json')
def testConstructor():
bot = pycreate2.Create2(port="COM43", baud=115200)
bot.start()
bot.safe()
# bot.clean()
bot.enableVacuum()
time.sleep(3)
bot.disableVaacum()
# bot.reset()
# time.sleep(10)
# bot.drive_direct(-50, -50)
# time.sleep(1)
# bot.stop()
# bot.enableVacuum()
# time.sleep(3)
# bot.disableVaacum()
assert True
def main():
port = "/dev/ttyUSB0"
baud = 115200
bot = pycreate2.Create2(port=port, baud=baud)
bot.start()
bot.power()
while True:
try:
sensor = bot.get_sensors()
print(sensor.battery_charge, sensor.battery_capacity)
time.sleep(5)
except KeyboardInterrupt:
break
def main():
args = handleArgs()
port = args['port']
baud = args['baud']
bot = pycreate2.Create2(port=port, baud=baud)
bot.start()
time.sleep(0.25)
bot.power() # this seems to shut it down more than stop ... confused
# bot.shutdown()
time.sleep(0.25)
bot.stop()
time.sleep(1)
print('=====================================================')
print('\n\tCreate Shutdown')
print('\tHit power button to wake-up\n')
print('=====================================================')
def main():
port = "/dev/ttyUSB0"
baud = 115200
bot = pycreate2.Create2(port=port, baud=baud)
bot.start()
while True:
try:
print("waking")
bot.wake()
packet = bot.SCI.read_all()
if packet:
print(packet)
except KeyboardInterrupt:
bot.power()
print("Stoping")
break
def __init__(self, port='/dev/ttyUSB0'):
self.bot = pycreate2.Create2(port)
# only create if on linux:
image_size = (640, 480)
if platform.system() == 'Linux':
self.camera = Camera(cam='pi')
self.camera.init(win=image_size)
self.imu = IMU()
else:
self.camera = Camera(cam='cv')
self.camera.init(win=image_size, cameraNumber=0)
self.sensors = {'create': None, 'imu': None, 'camera': None}
self.distance = 0.0
self.ahrs = AHRS()
self.modes = {
'js': JoyStickMode(self.bot),
'demo': DemoMode(self.bot),
'auto': AutoMode(self.bot),
'idle': IdleMode(self.bot),
'sensors': Sensors(self.bot)
}
# self.bag = Bag('./data/robot-{}.json'.format(time.ctime().replace(' ', '-')), ['imu', 'camera', 'create'])
self.current_mode = 'idle'
self.last_time = time.time()
self.data = {
# 'r': CircularBuffer(30),
# 'p': CircularBuffer(30),
'y': CircularBuffer(30),
}
def main():
# init roomba
global bot, path
port = '/dev/ttyUSB0'
baud = {
'default': 115200,
'alt':
19200 # shouldn't need this unless you accidentally set it to this
}
bot = pycreate2.Create2(port=port, baud=baud['default'])
bot.start()
bot.safe()
t_go = threading.Thread(target=go, args=(3, ))
t_get_Motor_Speed = threading.Thread(target=get_Motor_Speed, args=(3, ))
t_go.start()
t_get_Motor_Speed.setDaemon(True)
t_get_Motor_Speed.start()
t_get_Motor_Speed.join()
def write():
bag = Bag(filename, ['imu', 'create'])
# cap = cv2.VideoCapture(0)
imu = IMU()
bot = pycreate2.Create2('/dev/ttyUSB0')
bot.start()
bot.safe()
for i in range(100):
# grab IMU
a, m, g = imu.get()
bag.push('imu', (a, m, g))
# grab create sensors
s = bot.inputCommands()
bag.push('create', s)
# grab images
# ret, frame = cap.read()
# if not ret:
# frame = None
time.sleep(0.03)
def run(self):
# setup create 2
port = '/dev/ttyUSB0'
self.cr = pycreate2.Create2(port)
self.cr.start()
self.cr.safe()
pkts = [46, 47, 48, 49, 50, 51]
sensor_pkt_len = calc_query_data_len(pkts)
# setup pygecko
kb_sub = zmqSub(['twist_kb'], ('192.168.1.8', 9000), hwm=20)
while True:
raw = self.cr.query_list(pkts, sensor_pkt_len)
topic, msg = kb_sub.recv()
if msg:
# print('Msg:', msg)
vel = msg.linear.x
rot = msg.angular.z
print('raw', vel, rot)
if rot == 0.0:
# self.cr.drive_straight(vel)
pass
else:
i = int(rot * 10)
i = 0 if i < 0 else i
i = 10 if i > 10 else i
r = range(1100, 0, -100)
radius = r[i]
# self.cr.drive_turn(vel, radius)
print('cmd:', vel, radius)
else:
print('no command')
import pycreate2
import time
import math
from myMovement import meArm
from easydetect import detect
if __name__ == "__main__":
arm = meArm()
port = '/dev/ttyUSB0' # this is the serial port on my raspberry pi
baud = {
'default': 115200,
'alt':
19200 # shouldn't need this unless you accidentally set it to this
}
bot = pycreate2.Create2(port=port, baud=baud['default'])
#can pick locations arbitrarily
location1 = [50, 50]
location2 = [-50, -50]
location3 = [50, 100]
currentLocation = [0, 0]
currentAngle = 0
#assumes no obstacle
#if obstacle, moveTo intermittent locations to go around obstace
def moveTo(current, heading, destination):
distance = (destination[0] - current[0])**2
distance += (destination[1] - current[1])**2
distance **= 1 / 2
angle = math.atan2(destination[1] - current[1],
State.__init__(self, outcomes=['e'])
def execute(self, userdata):
while not rospy.is_shutdown():
bot.drive_direct(0, 0)
if x != 3:
return 'e' # return to normal
#define subscriber callback
x = 0
def callback(msg):
global x, x1
x = msg.data
if __name__ == '__main__':
rospy.init_node('state') #node
sub = rospy.Subscriber('navigator', Int32, callback) #subscriber
port = '/dev/ttyUSB0'
bot = pycreate2.Create2(port=port, baud=115200) #serial port
sm = StateMachine(outcomes=['normal']) #define state machine
with sm:
StateMachine.add('NORMAL', Normal(), transitions={'e': 'EMERGENCY'})
StateMachine.add('EMERGENCY', Emergency(), transitions={'e': 'NORMAL'})
sm.execute()
print('-' * 70)
for k, v in sensors.items():
print('{:>40} | {:<5}'.format(k, v))
if __name__ == "__main__":
# Create a Create2 Bot
port = '/dev/tty.usbserial-DA01NX3Z'
baud = {
'default': 115200,
'alt':
19200 # shouldn't need this unless you accidentally set it to this
}
# setup create 2
bot = pycreate2.Create2(port)
bot.start()
bot.safe()
bot.digit_led_ascii('hi') # set a nice message
bot.led(1) # turn on debris light
sensors = {}
pkts = [46, 47, 48, 49, 50, 51]
try:
while True:
sensors = bot.inputCommands(pkts)
if sensors:
prettyPrint(sensors)
def __init__(self, port='/dev/ttyUSB0'):
self.cr = pycreate2.Create2(port)
def handleArgs():
parser = argparse.ArgumentParser(
description=DESCRIPTION, formatter_class=argparse.RawTextHelpFormatter)
# parser.add_argument('-m', '--max', help='max id', type=int, default=253)
# parser.add_argument('-s', '--sleep', help='time in seconds between samples, default 1.0', type=float, default=1.0)
parser.add_argument('-b',
'--baud',
help='baudrate, default is 115200',
type=int,
default=115200)
parser.add_argument('port',
help='serial port name, Ex: /dev/ttyUSB0 or COM1',
type=str)
args = vars(parser.parse_args())
return args
if __name__ == "__main__":
args = handleArgs()
port = args['port']
baud = args['baud']
bot = pycreate2.Create2(port=port, baud=baud)
bot.start()
ret = bot.reset()
print(ret)
#config["transport"] = 'tcp'
#config["transport"] = 'mqtt'
#config["transport"] = 'echo'
#config["transport"] = '' # For use with serial port interface
config["server_ip_addr"] = '192.168.1.145' #'10.0.0.3' #'192.168.1.114'
config["robot"] = 'Ranger'
#config["robot"] = 'Create2'
config["logfile_name"] = 'mBot_Ranger_U2_log_'
#config[port] = '/dev/ttyUSB0' # this is the serial port on Ubuntu laptop
#config["baud"] = 115200
bot = pycreate2.Create2(config)
#bot.SCI.buffersize = 1024 # Uncomment this parameter when not using UDP interface
bot.start()
bot.safe()
# define a set of commands for the robot to execute
commands = [['Move_Dist', 125, 40, 'for_dist'],
['Move_Dist', -125, 40, 'backward_dist'],
['stop', 0, 0.2, 'stop'],
['Turn_Angle', 100, 90, 'Rotate_left'],
['Turn_Angle', 100, -90, 'Rotate_right'],
['stop', 0, 0.2, 'stop'], ['forward', 125, 2, 'for'],
['back', -125, 2, 'back'], ['stop', 0, 0.2, 'stop'],
['turn right', 100, 3, 'rite'], ['turn left', 100, 6, 'left'],
['turn right', 100, 3, 'rite'], ['stop', 0, 0.2, 'stop']]
