Python Omnibot.moveの例

コード例 #1

ファイル: IMU_test.py プロジェクト: buriram/BB-8

pitch = []
roll = []
pitchPIDController = PIDController()
rollPIDController = PIDController()
count = 0
while True:
    startTime = time.time()
    orientation = imu.getOrientation()
    driveAngle = getDriveAngle(math.radians(orientation.roll),
                               math.radians(orientation.pitch), zeroAngle)
    driveSpeedY = pitchPIDController.calculateSpeed(0, orientation.pitch)
    driveSpeedX = rollPIDController.calculateSpeed(0, orientation.roll)
    print "speedX:", driveSpeedX, "speedY:", driveSpeedY
    driveSpeed = (driveSpeedX**2 + driveSpeedY**2)**(.5)
    driveSpeed = min(driveSpeed, 50)
    twitch.move(driveAngle, driveSpeed)

    count = count + 1
    pitch.append(orientation.pitch)
    roll.append(orientation.roll)

    print colored('----------------------------------', 'cyan')
    print colored('roll = {0:.2f}, pitch = {1:.2f}',
                  'white').format(orientation.roll, orientation.pitch)
    print "direction:", driveAngle, "speed:", driveSpeed
    print "PID useful time:", (time.time() - startTime)
    sleep(max(.04 - (time.time() - startTime), 0))
    print "PID controller loop time:", time.time() - startTime

# twitch.stop()
# def average(s): return sum(s) * 1.0 / len(s)

コード例 #2

ファイル: Drive.py プロジェクト: ericboehlke/BB-8

import time
import math
from Omnibot import * 


twitch = Omnibot()
twitch.move(math.radians(77), 2)
time.sleep(2)

while True:
    #twitch.move(math.radians(77), 2)
    time.sleep(60.0 / 400 / 50)

コード例 #3

ファイル: Omnibot_test.py プロジェクト: zohaibshabir/BB-8

import time
import math
from Omnibot import * 

zeroAngle = math.radians(103)

twitch = Omnibot()
twitch.move(0, 2)

while True:
    time.sleep(.1)

コード例 #4

ファイル: IMU_test.py プロジェクト: zohaibshabir/BB-8

    
pitch = []
roll = []
pitchPIDController = PIDController()
rollPIDController = PIDController()
count = 0
while True:
    startTime = time.time()
    orientation = imu.getOrientation()
    driveAngle = getDriveAngle(math.radians(orientation.roll), math.radians(orientation.pitch), zeroAngle)
    driveSpeedY = pitchPIDController.calculateSpeed(0, orientation.pitch)
    driveSpeedX = rollPIDController.calculateSpeed(0, orientation.roll)
    print "speedX:", driveSpeedX, "speedY:", driveSpeedY
    driveSpeed = (driveSpeedX ** 2 + driveSpeedY ** 2) ** (.5)
    driveSpeed = min(driveSpeed, 50)
    twitch.move(driveAngle, driveSpeed)

    count = count + 1
    pitch.append(orientation.pitch)
    roll.append(orientation.roll)
    
    print colored('----------------------------------','cyan')	
    print colored('roll = {0:.2f}, pitch = {1:.2f}','white') .format(orientation.roll, orientation.pitch)
    print "direction:", driveAngle, "speed:", driveSpeed
    print "PID useful time:", (time.time() - startTime)
    sleep(max(.04 - (time.time() - startTime), 0))
    print "PID controller loop time:", time.time() - startTime
    
# twitch.stop()
# def average(s): return sum(s) * 1.0 / len(s)

コード例 #5

import time
import math
from Omnibot import *

twitch = Omnibot()
twitch.move(math.radians(77), 2)
time.sleep(2)

while True:
    #twitch.move(math.radians(77), 2)
    time.sleep(60.0 / 400 / 50)