예제 #1
0
파일: robot2.py 프로젝트: cydanil/cs30--
    def __init__(self, addr):

        #Chassis values
        self.g = graph.Graph()
        self.addr = addr
        self.r = robot()
        self.r.connect(self.addr)
        self.pose = [0,0,0] #X,Y, Theta
        self.lspeed = 98
        self.rspeed = 100
        self.distance_travelled = 0

        #Sensor access constants
        self.LEFT = -1
        self.CENTER = 0
        self.RIGHT = 1
        self.SLEFT = 180
        self.SRIGHT = 0

        #Sensor variables
        self.destinations = (self.LEFT, self.CENTER, self.RIGHT)
        self.sensors = {self.LEFT:0, self.CENTER:0, self.RIGHT:0}
        self.encoders = {self.LEFT:0, self.RIGHT:0}
        self.junctions = {self.LEFT: False, self.CENTER: False, self.RIGHT: False}
        self.GraphSLAMDone = False

        print "A.I. loaded."
def connect():
    global r
    address = "localhost"
    if len(sys.argv) == 2:
        address = "robo-wifi" + sys.argv[1] + ".csd.abdn.ac.uk"
    r = robot()
    r.connect(address)
def connect():
    global r
    address = "localhost"
    if len(sys.argv) == 2:
        address = "robo-wifi"+sys.argv[1]+".csd.abdn.ac.uk"    
    r = robot()
    r.connect(address) 
예제 #4
0
파일: robot.py 프로젝트: cydanil/cs30--
    #print sensors[15]
    turn_by(360,1,r)
    #print get_ranger_distance(-1)
    #print get_ranger_distance(0)
    #print get_ranger_distance(1)
    #while(True):
    #    sensors = sensor_values()
    #    go_straight(10)
    #calibrate()
    #r.setPT(90, 90) #this sets the pan/tilt head to 90 90 (pan,tilt)
    #sensor_values = r.get_sensors()
    #while(len(sensor_values) > 0):
       # sensor_values = r.get_sensors()
       # print sensor_values
      #  if(sensor_values[14] < 400):
      #      move(100, 0.5, 100, 0.5)
      #  else:
      #      move()
      #  time.sleep(0.5)



if __name__ == "__main__":
    address = "localhost"
    if len(sys.argv) == 2:
        address = "robo-wifi"+sys.argv[1]+".csd.abdn.ac.uk"
    r = robot()
    r.connect(address)
    main()
    r.disconnect()