interface.initialize()
config = str(sys.argv[1])
Robot = Robot(interface, pid_config_file=config)
bumpers = [None, None]
speeds = [6, 6]
zeros = [0, 0]
Robot.set_speed(speeds)
#Robot.start_debugging()
while True:
bumpers[0] = Robot.get_bumper("left")
bumpers[1] = Robot.get_bumper("right")
if bumpers[0] and bumpers[1]:
Robot.stop()
Robot.travel_straight(-3)
Robot.rotate_right(30)
Robot.set_speed([-x for x in speeds])
if not bumpers[0] and bumpers[1]:
Robot.stop()
Robot.rotate_left(30)
Robot.set_speed([-x for x in speeds])
if bumpers[0] and not bumpers[1]:
Robot.stop()
Robot.rotate_right(30)
Robot.set_speed([-x for x in speeds])
interface.terminate()
#Initialize the interface
interface=brickpi.Interface()
interface.initialize()
NUMBER_OF_PARTICLES = None
OFFSET = 100
DISTANCE_TO_PIXEL = 15
#Draw the square
print "drawLine:" + str((OFFSET,OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET))
print "drawLine:" + str((40*DISTANCE_TO_PIXEL+OFFSET,OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET+40*DISTANCE_TO_PIXEL))
print "drawLine:" + str((40*DISTANCE_TO_PIXEL+OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET,40*DISTANCE_TO_PIXEL+OFFSET))
print "drawLine:" + str((OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET,OFFSET))
Robot = Robot(interface, pid_config_file="carpet_config.json")
for i in range(4):
for j in range(4):
Robot.travel_straight(10,update_particles=True)
NUMBER_OF_PARTICLES = Robot.get_state()
NUMBER_OF_PARTICLES = [(OFFSET+point[0][0]*DISTANCE_TO_PIXEL,OFFSET+point[0][1]*DISTANCE_TO_PIXEL,point[0][2]) for point in NUMBER_OF_PARTICLES]
print "drawParticles:" + str(NUMBER_OF_PARTICLES)
time.sleep(5)
Robot.rotate_right(90,update_particles=True)
NUMBER_OF_PARTICLES = Robot.get_state()
NUMBER_OF_PARTICLES = [(OFFSET+point[0][0]*DISTANCE_TO_PIXEL,OFFSET+point[0][1]*DISTANCE_TO_PIXEL,point[0][2]) for point in NUMBER_OF_PARTICLES]
print "drawParticles:" + str(NUMBER_OF_PARTICLES)
time.sleep(5)
interface.terminate()
import threading import time from src.robot import Robot import brickpi #Initialize the interface interface=brickpi.Interface() interface.initialize() Robot = Robot(interface, pid_config_file="carpet_config.json") Robot.travel_straight(40) time.sleep(5) Robot.travel_straight(-40) time.sleep(5) Robot.rotate_left(90) time.sleep(5) Robot.rotate_right(90) interface.terminate()
import threading
import time
import sys
from src.robot import Robot
import brickpi
#Initialize the interface
interface = brickpi.Interface()
interface.initialize()
interface.startLogging("motor_position_1.log")
Robot = Robot(interface, 'paper_config.json')
Robot.rotate_right(float(sys.argv[1]))
interface.stopLogging()
interface.terminate()