"""
import logging
import math
import pickle
import sys
import time
import geom_utils as geo
import omnicar as oc
import proscan
from pprint import pprint
logger = logging.getLogger(__name__)
logger.setLevel(logging.DEBUG) # set to DEBUG | INFO | WARNING | ERROR
logger.addHandler(logging.StreamHandler(sys.stdout))
car = oc.OmniCar()
time.sleep(0.5)
from_arduino = car._read_serial_data()
logger.debug(f"Message from Arduino: {from_arduino}")
W2W_DIST = 34 # separation between coaxial wheels (cm)
SONAR_LIDAR_OFFSET = 15 # offset distance between sonar & lidar
FWD = 95 # forward drive direction (incl +5 'crab' compensation)
LFT = 180 # left drive direction
REV = 270 # reverse drive direction
RGT = 0 # right drive direction
KP = 0.25 # steering PID proportional coefficient
KD = 0.3 # steering PID derivative coefficient
CARSPEED = 150 # default car speed
RATE = 13.5 # cm/sec traveled by car @ CARSPEED = 150
R = 50 # Distance margin for clearing obstructions
""" Test script for all motors (4 wheels & lidar rotor). Consider putting the car up on blocks for this. """ import omnicar import time car = omnicar.OmniCar() # Drive car (parameter = motor speed between 0 - 255) # 'go' values < 90 or 'spin' values < 70 are unreliable due to friction # car.go_fwd(200) # Forward time.sleep(2) car.stop_wheels() time.sleep(1) car.go_back(200) # Back time.sleep(2) car.stop_wheels() time.sleep(1) car.go_left(90) # Left time.sleep(2) car.stop_wheels() time.sleep(1) car.go_right(90) # Right time.sleep(2)