#!/usr/bin/env python import sys, os, time, json import picamera from lib.utils import dbprint from lib.camera import update_img from lib.frobo_ng import frobo_ng if __name__ == '__main__': clockwise = int(sys.argv[1]) c = frobo_ng() c.debug = True with picamera.PiCamera() as camera: try: c.update_state() print 'BEFORE %s cm to %s' % (c.state['sonar'], c.heading()) c.find_distance(1, clockwise=clockwise) print 'AFTER %s cm to %s' % (c.state['sonar'], c.heading()) json.dump(c.dots, file('dots.json', 'w'), indent=2) finally: update_img(camera)
#!/usr/bin/env python import sys, time, json from lib.frobo_ng import frobo_ng import picamera from lib.camera import update_img from lib.utils import dbprint dist = float(sys.argv[1]) debug = False c = frobo_ng(debug=debug) cam = picamera.PiCamera() try: azim = c.heading() dbprint('BEFORE %d (%d:%d)' % (azim, c.state['lcount'], c.state['rcount'])) c.move_straight(fwd=True, max_steps=c.m2steps(dist), max_secs=1) dbprint('AFTER FWD %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount'])) update_img(cam) azim -= 180 dbprint("Turning around to %d" % azim) c.turn(azim, err=5) dbprint('AFTER TURN %d (%d:%d)' % (c.heading(), c.state['lcount'], c.state['rcount'])) json.dump(c.dots, file('dots.json', 'w'), indent=2) finally: update_img(cam) c.update_state() dbprint('EVENTUALLY %d (%d:%d)' %