コード例 #1
0
from __future__ import division

import math
import time

import os

from amberdriver.tools import config, logic

__author__ = 'paoolo'

pwd = os.path.dirname(os.path.abspath(__file__))
config.add_config_ini('%s/drive_to_point.ini' % pwd)

ROBO_WIDTH = float(config.ROBO_WIDTH)

""" Data polar/grid functions, conversion, etc. """


def normalize_angle(angle):
    if angle < -math.pi:
        angle += 2 * math.pi
    elif angle > math.pi:
        angle -= 2 * math.pi
    return angle


""" Mechanism """


def find_local_minima_func(points):
コード例 #2
0
import math
import collections
import time

import os

from amberdriver.tools import config, logic

__author__ = 'paoolo'

pwd = os.path.dirname(os.path.abspath(__file__))
config.add_config_ini('%s/drive_support.ini' % pwd)

ROBO_WIDTH = float(config.ROBO_WIDTH)
ROBO_MASS = float(config.ROBO_MASS)

MAX_SPEED = float(config.MAX_SPEED)

SOFT_DISTANCE_LIMIT = float(config.SOFT_DISTANCE_LIMIT)
HARD_DISTANCE_LIMIT = float(config.HARD_DISTANCE_LIMIT)

DISTANCE_ALPHA = float(config.DISTANCE_ALPHA)

ANGLE_RANGE = float(config.ANGLE_RANGE)
SCANNER_DIST_OFFSET = float(config.SCANNER_DIST_OFFSET)

MAX_ACCELERATION_FORWARD = float(config.MAX_ACCELERATION_FORWARD)
MAX_ACCELERATION_SIDE = float(config.MAX_ACCELERATION_SIDE)
MAX_ROTATIONAL_SPEED = float(config.MAX_ROTATIONAL_SPEED)

コード例 #3
0
from __future__ import division

import math
import time

import os

from amberdriver.tools import config, logic

__author__ = 'paoolo'

pwd = os.path.dirname(os.path.abspath(__file__))
config.add_config_ini('%s/drive_to_point.ini' % pwd)

ROBO_WIDTH = float(config.ROBO_WIDTH)
""" Data polar/grid functions, conversion, etc. """


def normalize_angle(angle):
    if angle < -math.pi:
        angle += 2 * math.pi
    elif angle > math.pi:
        angle -= 2 * math.pi
    return angle


""" Mechanism """


def find_local_minima_func(points):
    prev_distance = None
コード例 #4
0
ファイル: hokuyo.py プロジェクト: showmen15/testEEE
import threading
import traceback
import sys
import time

import os
from ambercommon.common import runtime

from amberdriver.tools import config


__author__ = 'paoolo'

pwd = os.path.dirname(os.path.abspath(__file__))
config.add_config_ini('%s/hokuyo.ini' % pwd)

MAX_MULTI_SCAN_IDLE_TIMEOUT = float(config.HOKUYO_MAX_MULTI_SCAN_IDLE_TIMEOUT)


def chunks(l, n):
    for i in xrange(0, len(l), n):
        yield l[i:i + n]


def decode(val):
    bin_str = '0b'
    for char in val:
        val = ord(char) - 0x30
        bin_str += '%06d' % int(bin(val)[2:])
    return int(bin_str, 2)
コード例 #5
0
ファイル: hokuyo.py プロジェクト: showmen15/testEEE
import threading
import traceback
import sys
import time

import os
from ambercommon.common import runtime

from amberdriver.tools import config

__author__ = 'paoolo'

pwd = os.path.dirname(os.path.abspath(__file__))
config.add_config_ini('%s/hokuyo.ini' % pwd)

MAX_MULTI_SCAN_IDLE_TIMEOUT = float(config.HOKUYO_MAX_MULTI_SCAN_IDLE_TIMEOUT)


def chunks(l, n):
    for i in xrange(0, len(l), n):
        yield l[i:i + n]


def decode(val):
    bin_str = '0b'
    for char in val:
        val = ord(char) - 0x30
        bin_str += '%06d' % int(bin(val)[2:])
    return int(bin_str, 2)