cv2.imwrite(filename, frame)
# mdiff.on_to_coordinates(SpeedRPM(15), 0, (i*100))
mdiff.on_for_distance(15, 100)
# mdiff.turn_to_angle(SpeedRPM(5), 90)
print(
"wait a few seconds after movement before taking another photo...")
time.sleep(3)
# Now go back to where we started and rotate in place to 90 degrees (facing orig forward direction)
print("driving back to origin and rotating back to orig pose...")
mdiff.on_to_coordinates(SpeedRPM(20), 0, 0)
mdiff.turn_to_angle(SpeedRPM(5), 90)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
mdiff.off()
print("")
print("!!!!!!!!!!!!!!!!!!!!!!")
print("")
print("Stopping motors A and B")
print("")
print("!!!!!!!!!!!!!!!!!!!!!!")
print("")
mdiff.odometry_coordinates_log()
mdiff.odometry_stop()
cap.release()
cv2.destroyAllWindows()
class chassis:
# Sets up motors
def __init__(self):
self.right = LargeMotor(Right_Motor_Port)
self.left = LargeMotor(Left_Motor_Port)
self.chassis = MoveTank(Left_Motor_Port, Right_Motor_Port)
self.rot_conversion = lambda distance: distance / CONVERSION_TO_CM # This will convert from a distance to a
self.sp_conversion = lambda distance: 360 * self.rot_conversion(
distance)
# theoretical number of rotations
self.degree_conversion = lambda deg: self.rot_conversion(
(deg * pi * Wheel_Well_diameter
) / 360) # Will convert from degrees into a distance
# Send move comand but backwards, just for ease if I use it
def move_backwards(self, units=10, speed=15, backwards=True):
self.move(units, speed, backwards)
# Move forward, units being in cm
def move(self, units=10, speed=15, forwards=False):
# Speed forward if forwards is ture or go back
speed = speed if forwards else (-speed)
self.chassis.on_for_rotations(SpeedPercent(speed),
SpeedPercent(speed),
self.rot_conversion(units),
brake=True)
self.chassis.off(brake=False)
def move_rel(self, units=10, speed=15, forwards=False):
speed = speed if forwards else (-speed)
self.chassis.run_to_rel_pos()
# Move to a relative position forward
def turn_counter_clockwise(self,
degrees=180,
speed=10,
counter_clockwise=True):
self.turn_clockwise(degrees, speed, not counter_clockwise)
def turn_clockwise(self, degrees=180, speed=10, clockwise=True):
speeds = SpeedPercent(-speed)
speedb = SpeedPercent(speed)
self.chassis.on_for_rotations(speedb, speeds,
self.degree_conversion(degrees))
self.chassis.off(brake=False)
def move_dif(self, speed=15, units=10, backwards=False):
speed = -speed if backwards else speed
self.dif = MoveDifferential(Left_Motor_Port, Right_Motor_Port,
EV3EducationSetTire,
Wheel_Well_diameter * 10)
self.dif.on_for_distance(SpeedPercent(speed), units * 10)
sleep(0.3)
self.dif.off(brake=False)
def turn_angle(self, angle=180):
self.turn = MoveDifferential(Left_Motor_Port, Right_Motor_Port,
EV3EducationSetTire,
Wheel_Well_diameter * 10)
self.turn.turn_left(15, angle)
def position(self):
return [self.right.position, self.left.position]
def odo_start(self):
self.dif.odometry_start()
def odo_stop(self):
self.dif.odometry_stop()