def nav_working(self, left_speed, right_speed, run_duration=5): run_start_time = time.time() while((time.time() - run_start_time) <= run_duration): while(get_dist('fc') > 5): self.move(left_speed, right_speed) print "navigating: all good.. " print "obstacle!" self.pause() self.stop() print "run time up!"
def nav2(self, left_speed=50, right_speed=50, duration=20): #nav takes into account obstacle avoidance while #def r3_nav(self, 100, 100, 30): print "nav2 start" self.move(left_speed, right_speed, duration) while(get_dist('fc') > 20): #time.sleep(.5) print "all good.. going fwd" print "something in the way" self.stop() print "nav2 stop"
def nav(self, left_speed, right_speed, run_duration=5): move_command = get_move_command(left_speed, right_speed) run_start_time = time.time() while((time.time() - run_start_time) <= run_duration): self.move(left_speed, right_speed) print "navigating: all good.. " if(get_dist('fc') < 5 and (('FWD' in move_command) or ('PIVOT' in move_command))): print "obstacle!" self.pause() self.nav(-80,-80,2) self.pivot(5) self.stop() print "run time up!"
def nav(self, left_speed, right_speed, run_duration=5): move_command = self.get_move_command(left_speed, right_speed) run_start_time = time.time() print "nav start: ",move_command while((time.time() - run_start_time) <= run_duration): self.move(left_speed, right_speed) #print "navigating: all good.. " if(get_dist('fc') < 12 and (('FWD' in move_command) or ('PIVOTX' in move_command))): print "obstacle during nav: ", move_command #self.pause() self.nav(-220,-220,.5) self.pivot('left',2) #self.pause() print "nav pause (time up): ",move_command
def nav_deprecated(self, left_speed=50, right_speed=50, duration=20): #nav takes into account obstacle avoidance while #def r3_nav(self, 100, 100, 30): i = 0 print "nav start" print 'move steps: ',(duration ) for i in range(0, (duration)): while(get_dist('fc') > 20): self.move(left_speed, right_speed, 1) #print "move call from nav" i = i + 1 #print "i is:",i #print "dist: ",get_dist('fc') self.stop() print "nav stop"
def nav(self, left_speed=50, right_speed=50, run_duration=2): run_start_time = time.time() current_time = time.time() print "run stats:" print run_duration print run_start_time print current_time while((current_time - run_start_time) <= run_duration): while(get_dist('fc') > 15): self.move(left_speed, right_speed) print "all good.. keep it movin' " self.pause() print "obstacle, waiting!" current_time = time.time() self.stop() print "time up! stopping"
def _left_speedxx(self, speed): """Set the speed of the left motor, taking into account its trim offset. """ #assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!' assert -255 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!' speed += self._left_trim #speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming. speed = max(-255, min(255, speed)) # Constrain speed to 0-255 after trimming. self._left_front.setSpeed(abs(speed)) self._left_rear.setSpeed(abs(speed)) def _right_speedxx(self, speed): """Set the speed of the right motor, taking into account its trim offset. """ assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!' speed += self._right_trim speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming. self._right_front.setSpeed(speed) self._right_rear.setSpeed(speed) def nav-working(self, left_speed, right_speed, run_duration=5): run_start_time = time.time() while((time.time() - run_start_time) <= run_duration): while(get_dist('fc') > 5): self.move(left_speed, right_speed) print "navigating: all good.. " print "obstacle!" self.pause() self.stop() print "run time up!"
import time import r3c from r3s import get_dist, get_sensorpin print "test start, initializing chasis and sensors" r = r3c.r3c() #initialize chassis print "@@@@@@@@@@ sensor readings start" for x in range(0, 90): print "Reading #: ", x ''' get_dist('fl') time.sleep(1) get_dist('fc') time.sleep(1) get_dist('fr') time.sleep(1)''' get_dist('fc') print "\n\n" print "@@@@@@@@@@ sensor readings end"