# This uses boatd_client, a python library for interacting with boatd. For more
# information, see https://github.com/boatd/python-boatd
# Run with $ python basic_behaviour.py, after boatd is running
from boatd_client import Boat
boat = Boat()
for i in range(5):
boat.heading
boat.wind
boat.position
boat.rudder(0)
boat.rudder(-1)
boat.rudder(3)
boat.sail(0)
import time
import boat_utils
from boatd_client import Boat
HEADING = 200
K_P = 1
K_I = 0.1
integrator = 0
boat = Boat()
while True:
current_heading = boat.heading
print 'heading:', current_heading, 'wanted:', HEADING,
error = boat_utils.heading_error(current_heading, HEADING)
integrator += error
print 'error:', error, 'integrator:', integrator
boat.rudder(-(K_P * error + K_I * integrator))
time.sleep(0.5)
from __future__ import print_function
import time
import boat_utils
from boatd_client import Boat
HEADING = 0
K_P = 1
K_I = 0.1
integrator = 0
boat = Boat()
def get_rudder_position(heading, wanted_heading):
current_heading = boat.heading
print('PID heading:', current_heading, 'wanted:', HEADING, end='')
error = boat_utils.heading_error(current_heading, HEADING)
integrator += error
print('error:', error, 'integrator:', integrator)
boat.rudder( -(K_P * error + K_I * integrator))
waypoints = [(-12, 3443), (2, 334)]
for point in waypoints:
while boat_utils.distance(boat.position, point) > 10:
print('position:', boat.position,
'distance to waypoint:', boat_utils.distance(boat.position, point),
'bearing to waypoint:', boat_utils.heading(boat.position, point))
boat.rudder(
get_rudder_position(boat.heading,
import time
import boat_utils
from boatd_client import Boat
HEADING = 200
K_P = 1
K_I = 0.1
integrator = 0
boat = Boat()
while True:
current_heading = boat.heading
print 'heading:', current_heading, 'wanted:', HEADING,
error = boat_utils.heading_error(current_heading, HEADING)
integrator += error
print 'error:', error, 'integrator:', integrator
boat.rudder( -(K_P * error + K_I * integrator))
time.sleep(0.5)
