from robot.controller import BotController
import config
import time
if __name__ == '__main__':
SPEED = 40.0
ctrl = BotController(config)
ctrl.start()
torque = 0
data = []
for _ in range(300):
time.sleep(0.01)
ctrl.on_timer()
data.append((ctrl.timer, ctrl.actual_speed[0], ctrl.actual_speed[1],
ctrl.ticks[0], ctrl.ticks[1], ctrl._left.torque,
ctrl._right.torque, torque))
if _ == 50:
torque = SPEED
ctrl.run(SPEED, SPEED)
if _ == 150:
torque = -SPEED
ctrl.run(-SPEED, -SPEED)
if _ == 250:
class QB(object):
"""
Wraps BotController and presents to the user command-level API (high-level).
Supported commands are:
set_speed(speed_left, speed_right)
get_ir()
get_ticks()
reset_ticks()
get_speed()
Recommended sampling frequency is 100Hz.
"""
def __init__(self, config):
self._bot = BotController(config)
self._ticks_origin_left = 0
self._ticks_origin_right = 0
self._ir_calibration = config.IR_CALIBRATION
def start(self):
self._bot.start()
def stop(self):
self._bot.stop()
def on_timer(self):
self._bot.on_timer()
def set_speed(self, speed_left, speed_right):
self._bot.run(speed_left, speed_right)
def get_ir(self):
return tuple(self._bot.values)
def get_ir_distances(self):
return tuple(self._ir_calibration / x for x in self._bot.values)
def get_ticks(self):
ticks_left, ticks_right = self._bot.ticks
return ticks_left - self._ticks_origin_left, ticks_right - self._ticks_origin_right
def reset_ticks(self):
self._ticks_origin_left, self._ticks_origin_right = self._bot.ticks
def get_speed(self):
return self._bot.actual_speed
@classmethod
def run(cls, config, behavior):
qb = QB(config)
try:
qb.start()
while True:
time.sleep(0.01)
qb.on_timer()
behavior(qb)
finally:
qb.stop()
def __init__(self, config):
self._bot = BotController(config)
self._ticks_origin_left = 0
self._ticks_origin_right = 0
self._ir_calibration = config.IR_CALIBRATION
class QB(object):
"""
Wraps BotController and presents to the user command-level API (high-level).
Supported commands are:
set_speed(speed_left, speed_right)
get_ir()
get_ticks()
reset_ticks()
get_speed()
Recommended sampling frequency is 100Hz.
"""
def __init__(self, config):
self._bot = BotController(config)
self._ticks_origin_left = 0
self._ticks_origin_right = 0
self._ir_calibration = config.IR_CALIBRATION
def start(self):
self._bot.start()
def stop(self):
self._bot.stop()
def on_timer(self):
self._bot.on_timer()
def set_speed(self, speed_left, speed_right):
self._bot.run(speed_left, speed_right)
def get_ir_distances(self):
return tuple( self._ir_calibration / x for x in self._bot.values )
def get_ticks(self):
ticks_left, ticks_right = self._bot.ticks
return ticks_left - self._ticks_origin_left, ticks_right - self._ticks_origin_right
def reset_ticks(self):
self._ticks_origin_left, self._ticks_origin_right = self._bot.ticks
def get_speed(self):
return self._bot.actual_speed
@classmethod
def run(cls, config, behavior):
qb = QB(config)
try:
qb.start()
while True:
time.sleep(0.01)
qb.on_timer()
behavior(qb)
finally:
qb.stop()
def __init__(self, config):
self._bot = BotController(config)
self._ticks_origin_left = 0
self._ticks_origin_right = 0
self._ir_calibration = config.IR_CALIBRATION
from robot.controller import BotController import config import time if __name__ == '__main__': SPEED = 40.0 ctrl = BotController(config) ctrl.start() torque = 0 data = [] for _ in range(300): time.sleep(0.01) ctrl.on_timer() data.append((ctrl.timer, ctrl.actual_speed[0], ctrl.actual_speed[1], ctrl.ticks[0], ctrl.ticks[1], ctrl._left.torque, ctrl._right.torque, torque)) if _ == 50: torque = SPEED ctrl.run(SPEED, SPEED)