thread.start_new_thread( receiveFromServer, (freqSend, ) )
except:
print "Error: unable to start thread"
oldDesired = serverCom.desiredSpeed
#robot.startLineFollowing(serverCom.desiredSpeed)
print serverCom.desiredSpeed
print "--- Robot start"
robot.startLineFollowing(int(serverCom.desiredSpeed))
v_now = 0
dist,t_im= findDist()
P = 18
I = 1
err = 0
while 1:
serverCom.currentSpeed = v_now
# serverCom.displayData()
if dist>0:
if dist >= cruise_dist:
err_prev = err
err = (dist-v_now*t_im) - cruise_dist
i_err = scipy.integrate.simps([int(err_prev), int(err)])
err_new = P*err + I*i_err
temp_sp = min(int(serverCom.desiredSpeed), err*t_im)
v_now = max(temp_sp,0)
if dist<400:
v_now = 0
robot.startLineFollowing(int(v_now*0.645))
dist,t_im= findDist()
thread.start_new_thread(receiveFromServer, (freqSend, ))
except:
print "Error: unable to start thread"
oldDesired = serverCom.desiredSpeed
#robot.startLineFollowing(serverCom.desiredSpeed)
print serverCom.desiredSpeed
print "--- Robot start"
robot.startLineFollowing(int(serverCom.desiredSpeed))
v_now = 0
dist, t_im = findDist()
P = 18
I = 1
err = 0
while 1:
serverCom.currentSpeed = v_now
# serverCom.displayData()
if dist > 0:
if dist >= cruise_dist:
err_prev = err
err = (dist - v_now * t_im) - cruise_dist
i_err = scipy.integrate.simps([int(err_prev), int(err)])
err_new = P * err + I * i_err
temp_sp = min(int(serverCom.desiredSpeed), err * t_im)
v_now = max(temp_sp, 0)
if dist < 400:
v_now = 0
robot.startLineFollowing(int(v_now * 0.645))
dist, t_im = findDist()
