#!/usr/bin/env python # -*- coding: utf-8 import struct, time import kbhit from RobotCommunication import SerialCommands robot = SerialCommands('/dev/ttyAMA0',115200) kb = kbhit.KBHit() print robot.init() if __name__ == '__main__': robot.startLineFollowing(20) ###start line following with speed 1-127 while 1: if kb.kbhit(): ### check if the key is pressed key = kb.getch() if key == 'r': ##if pressed "r" go from left to right lane robot.laneChange(1) if key == 'l': ##if pressed "l" go from right to left lane robot.laneChange(-1) if key == 's': ## if pressed "s" stop the robot robot.init()
from picamera import PiCamera import time import cv2 import numpy as np from RobotCommunication import SerialCommands import socket host = '192.168.30.37' ###address of the server port = 9092 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.connect((host, port)) robot = SerialCommands('/dev/ttyAMA0', 115200) print robot.init() # initialize the camera and grab a reference to the raw camera capture camera = PiCamera() camera.resolution = (640, 480) rawCapture = PiRGBArray(camera, size=(640, 480)) # allow the camera to warmup time.sleep(0.1) def findDist(): camera.capture(rawCapture, format="bgr") img = rawCapture.array #take image
import numpy as np from RobotCommunication import SerialCommands import socket import scipy.integrate cruise_dist = 300 v_desr = 100 host = '192.168.30.37' ###address of the server port = 9092 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.connect((host, port)) robot = SerialCommands('/dev/ttyAMA0', 115200) print robot.init() # initialize the camera and grab a reference to the raw camera capture camera = PiCamera() camera.resolution = (640, 480) rawCapture = PiRGBArray(camera, size=(640, 480)) # allow the camera to warmup time.sleep(0.1) def findDist(): camera.capture(rawCapture, format="bgr") img = rawCapture.array #take image
from GPSServerConnection import GPSServerConnection from RobotCommunication import SerialCommands import numpy as np import time gps_pos = GPSServerConnection() robot = SerialCommands('/dev/ttyAMA0',115200) pos_x=[] pos_y=[] if __name__ == '__main__': pos,t = gps_pos.getPosition(1) pos_x.append(pos[0]) pos_y.append(pos[1]) robot.startLineFollowing(20) for i in range(1,40): pos_x.append(pos_x[i-1]+ (20*0.465*0.2)*0.2516) pos_y.append(pos_y[i-1]) time.sleep(0.2) print pos_x[39]
import sys sys.path.append('/usr/local/lib/python2.7/site-packages') from picamera.array import PiRGBArray from picamera import PiCamera from oct2py import octave #octave.addpath('./for_octave/image_matlab') import time import cv2 import struct, time from RobotCommunication import SerialCommands robot = SerialCommands('/dev/ttyAMA0',115200) print robot.init() # initialize the camera and grab a reference to the raw camera capture camera = PiCamera() camera.resolution = (640, 480) rawCapture = PiRGBArray(camera, size=(640, 480)) cruise_distance = 200 ## in mm v_max = 80 ## in mm/s v_curr = 1 a_max = 2 # allow the camera to warmup time.sleep(0.1)
from RobotCommunication import SerialCommands import time dist = int(raw_input('set distance/n')) robot = SerialCommands('/dev/ttyAMA0', 115200) #robot.resetEncoders() #old = robot.readEncoders() #print old #robot.autoCalibrate() #time.sleep(5) print robot.init() robot.fixedDistance(dist) #robot.startLineFollowing(40)
from RobotCommunication import SerialCommands import time dist = int(raw_input('set distance/n')) robot = SerialCommands('/dev/ttyAMA0',115200) #robot.resetEncoders() #old = robot.readEncoders() #print old #robot.autoCalibrate() #time.sleep(5) print robot.init() robot.fixedDistance(dist) #robot.startLineFollowing(40)
import numpy as np from RobotCommunication import SerialCommands import socket import scipy.integrate cruise_dist =300 v_desr = 100 host = '192.168.30.37' ###address of the server port = 9092 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.connect((host , port)) robot = SerialCommands('/dev/ttyAMA0',115200) print robot.init() # initialize the camera and grab a reference to the raw camera capture camera = PiCamera() camera.resolution = (640, 480) rawCapture = PiRGBArray(camera, size=(640, 480)) # allow the camera to warmup time.sleep(0.1) def findDist(): camera.capture(rawCapture, format="bgr") img = rawCapture.array #take image
from GPSServerConnection import GPSServerConnection from RobotCommunication import SerialCommands import numpy as np import time gps_pos = GPSServerConnection() robot = SerialCommands('/dev/ttyAMA0', 115200) pos_x = [] pos_y = [] if __name__ == '__main__': pos, t = gps_pos.getPosition(1) pos_x.append(pos[0]) pos_y.append(pos[1]) robot.startLineFollowing(20) for i in range(1, 40): pos_x.append(pos_x[i - 1] + (20 * 0.465 * 0.2) * 0.2516) pos_y.append(pos_y[i - 1]) time.sleep(0.2) print pos_x[39] robot.init() print gps_pos.getPosition(1)
from picamera import PiCamera import time import cv2 import numpy as np from RobotCommunication import SerialCommands import socket host = '192.168.30.37' ###address of the server port = 9092 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.connect((host , port)) robot = SerialCommands('/dev/ttyAMA0',115200) print robot.init() # initialize the camera and grab a reference to the raw camera capture camera = PiCamera() camera.resolution = (640, 480) rawCapture = PiRGBArray(camera, size=(640, 480)) # allow the camera to warmup time.sleep(0.1) def findDist(): camera.capture(rawCapture, format="bgr") img = rawCapture.array #take image