SERVO_PORT = config.get('ports', 'servos') COMPASS_PORT = config.get('ports', 'compass') COMPASS_OFFSET = float(config.get('compass', 'offset')) waypoint_config_path = os.path.join(brain_dir, "waypoints", "school_points.cfg") waypoint_config = ConfigParser.ConfigParser() waypoint_config.read(waypoint_config_path) waypoints = [] for waypoint in waypoint_config.sections(): waypoints.append(point.Point(waypoint_config.get(waypoint, 'latitude'), waypoint_config.get(waypoint, 'longitude'))) curr_waypoint = 0 curr_waypoint_point = waypoints[curr_waypoint] #### GPS SETUP gps_device = gps_device() gps_device.activate() gps_device.update() ### SERVO SETUP servo = servo_device(port=SERVO_PORT) servo.reset_all() STEERING_SERVO = 0 DRIVE_SERVO = 1 #THROTTLE_MAX = 1660 THROTTLE_MAX = 1650 #THROTTLE_MIN = 1650 THROTTLE_MIN = 1620 STEERING_FULL_RIGHT = 1660 STEERING_FULL_LEFT = 1460 #STEERING_CENTER = 1557
import ConfigParser import os import sys from drivers.gps.gpsd import GPSDGPS as gps_device waypoint_dir = os.path.abspath(os.path.dirname(__file__)) ### PARSE ARGUMENTS waypoint_file = sys.argv[1] waypoint_num = sys.argv[2] config_path = os.path.join(waypoint_dir, waypoint_file) #### GPS SETUP gps_device = gps_device() gps_device.activate() ### GPS READING lat = 0.0 lng = 0.0 while lat == 0.0 and lng == 0.0: gps_device.update() lat = gps_device.get_current_latitude() lng = gps_device.get_current_longitude() ### READ CONFIG config = ConfigParser.ConfigParser() config.read(config_path) ### CREATE CONFIG try: