Python RCLib.imu_turnの例

コード例 #1

ファイル: diamondReturn2.py プロジェクト: InspirationRobotics/inspiration_robosub

rc.arm()

print(rc.getDeg())

#time.sleep(2)
#rc.forward("time", 6, 0.25)
#rc.yaw("time", 1.2, -0.25)
#rc.forward("time", 3, 0.25)
#rc.yaw("time", 1.2, -0.25)
#rc.forward("time", 6, 0.25)`

start = 72 + 180

rc.setmode('ALT_HOLD')
rc.throttle("time", 3, -0.25)
rc.imu_turn(start)
rc.forward("time", 5, 0.35)
rc.forward("time", 5, 0.35)

rc.yaw("imu", -45, 0.2)
rc.forward("time", 3, 0.25)

rc.yaw("imu", 90, 0.2)
rc.forward("time", 3, 0.25)

rc.yaw("imu", 90, 0.2)
rc.forward("time", 3, 0.25)

rc.yaw("imu", 90, 0.2)
rc.forward("time", 3, 0.25)

コード例 #2

        wallDist = pingReturn[0]
        confidence = pingReturn[1]
        counter = counter + 1
    print 'wall', wallDist
    print 'counter ', counter
    diff = wallDist - value
    print 'Laterl diff ', diff
    rc.lateralDist(diff)


# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", DEPTH_SEC, -0.25)

# align with the origin
rc.imu_turn(START)

rc.forward("time", 10, 0.35)
leftAlign(2400)
rc.imu_turn(START)
rc.forward("time", 10, 0.35)
leftAlign(1500)
rc.imu_turn(START)
rc.forward("time", 13, 0.35)
leftAlign(3600)

rc.imu_turn(START + 182)
rc.forward("time", 13, 0.25)
rc.imu_turn(START + 182)
rightAlign(2300)
rc.forward("time", 13, 0.35)

コード例 #3

ファイル: q12.py プロジェクト: InspirationRobotics/inspiration_robosub

        wallDist = 3800
    if wallDist < 500:
        wallDist = 500
    print 'wall', wallDist
    print 'counter ', counter
    diff = wallDist - value
    print 'Laterl diff ', diff
    rc.lateralDist(diff)


# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", DEPTH_SEC, -0.25)

# align with the origin
rc.imu_turn(START)

rc.forward("time", 10, 0.32)
leftAlign(2400)
rc.imu_turn(START)
rc.forward("time", 5, 0.32)
leftAlign(2000)
rc.imu_turn(START)
rc.forward("time", 5, 0.32)
leftAlign(1500)
rc.imu_turn(START)
rc.forward("time", 5, 0.32)
leftAlign(1500)
rc.forward("time", 5, 0.32)
leftAlign(3500)

コード例 #4

rc.arm()

print(rc.getDeg())

# global "origin" parameter
START = 67
DEPTH_SEC = 3
SEC_PER_METER = 1

# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", DEPTH_SEC, -0.25)

# align with the origin
rc.imu_turn(START)
rc.forward("time", 6, 0.35)
while (ac.get_distance_fwd()[0] > 7000):
    rc.forward("time", 1, 0.35)

rc.imu_turn(START - 45)
rc.forward("time", 5, 0.25)

rc.imu_turn(START + 45)
rc.forward("time", 5, 0.25)

rc.imu_turn(START + 135)
rc.forward("time", 5, 0.25)

rc.imu_turn(START + 225)
rc.forward("time", 5, 0.25)

コード例 #5

ファイル: testYaw.py プロジェクト: InspirationRobotics/inspiration_robosub

import time
import navigation.imu as imu
from navigation.log import *

log = LogLib()

rc = RCLib(log)

rc.setmode('ALT_HOLD')

rc.arm()

rc.throttle("time", 1, -0.5)

start = rc.getDeg()
rc.imu_turn(start + 90)

#i=0
#while (i<50) :
#   rc.getDeg()
#   rc.raw("yaw", 1555)
#   i = i+1

#start = rc.getDeg()
#print(start)
#print('Now Yawing')
#rc.yaw("imu", 45, 0.2)

#turn=90

#end = int(turn + start)

コード例 #6

        wallDist = pingReturn[0]
        confidence = pingReturn[1]
        counter = counter + 1
    print 'wall', wallDist
    print 'counter ', counter
    diff = wallDist - value
    print 'Laterl diff ', diff
    rc.lateralDist(diff)


# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", DEPTH_SEC, -0.25)

# align with the origin
rc.imu_turn(START)

rc.forward("time", 10, 0.35)
leftAlign(2400)
rc.imu_turn(START)
rc.forward("time", 5, 0.35)
leftAlign(2000)
rc.imu_turn(START)
rc.forward("time", 5, 0.35)
leftAlign(1500)
rc.imu_turn(START)
rc.forward("time", 5, 0.35)
leftAlign(1500)
rc.forward("time", 4, 0.35)
leftAlign(2500)
leftAlign(3500)

コード例 #7

ファイル: diamondPID.py プロジェクト: InspirationRobotics/inspiration_robosub

rc.setmode('MANUAL')

rc.arm()

print(rc.getDeg())

# global "origin" parameter
start = 72

# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", 3, -0.25)

# align with the origin 
rc.imu_turn(start)

rc.forward("time", 10, 0.35)

rc.imu_turn(start-45)
rc.forward("time", 5, 0.25)

rc.imu_turn(start+45)
rc.forward("time", 5, 0.25)

rc.imu_turn(start+135)
rc.forward("time", 5, 0.25)

rc.imu_turn(start+225)
rc.forward("time", 5, 0.25)

コード例 #8

        wallDist = 3800
    if wallDist < 500:
        wallDist = 500
    print 'wall', wallDist
    print 'counter ', counter
    diff = wallDist - value
    print 'Laterl diff ', diff
    rc.lateralDist(diff)


# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", DEPTH_SEC, -0.25)

# align with the origin
rc.imu_turn(START)

rc.forward("time", 10, 0.32)
leftAlign(2400)
rc.imu_turn(START)
rc.forward("time", 5, 0.32)
leftAlign(2000)
rc.imu_turn(START)
rc.forward("time", 5, 0.32)
leftAlign(1500)
rc.imu_turn(START)
rc.forward("time", 5, 0.32)
leftAlign(1500)
rc.forward("time", 5, 0.32)
leftAlign(3500)

コード例 #9

        wallDist = pingReturn[0]
        confidence = pingReturn[1]
        counter = counter + 1
    print 'wall', wallDist
    print 'counter ', counter
    diff = wallDist - value
    print 'Laterl diff ', diff
    rc.lateralDist(diff)


# depth hold and go down
rc.setmode('ALT_HOLD')
rc.throttle("time", DEPTH_SEC, -0.25)

# align with the origin
rc.imu_turn(START)

rc.forward("time", 10, 0.35)
leftAlign(GATECENTER)
rc.imu_turn(START)
rc.forward("time", 1, 0.35)
leftAlign(GATECENTER - 750)
rc.imu_turn(START)
rc.forward("time", 1, 0.35)
leftAlign(GATECENTER + 750)

rc.imu_turn(START + 185)
rc.forward("time", 1, 0.25)
rc.imu_turn(START + 185)
rightAlign(GATECENTER)
rc.forward("time", 1, 0.35)