from romipi_astar.romipi_driver import AStar import time romi = AStar() romi.square() romi.circle()
#!/usr/bin/python2
#
# Blink the lights connected to the RomiPi
# The neopixel should turn red, yellow, then red
from romipi_astar.romipi_driver import AStar
import time
led_delay_s = 2.0
romi = AStar()
# turn on red LED
romi.leds(True, False, False)
romi.pixels(250, 0, 0)
print("LED RED")
print("PIXEL RED")
time.sleep(led_delay_s)
# turn on yellow LED
romi.leds(False, True, False)
romi.pixels(0, 250, 0)
print("LED YELLOW")
print("PIXEL GREEN")
time.sleep(led_delay_s)
# turn on green LED
romi.leds(False, False, True)
romi.pixels(0, 0, 250)
print("LED GREEN")
print("PIXEL BLUE")
time.sleep(led_delay_s)
import threading
import PyLidar3
import math
import time
from romipi_astar.romipi_driver import AStar
romi = AStar()
speed = 0.2 # speed in m/s
direction = 0.0 # direction in radians
def drive():
while True:
romi.twist(speed, 0)
x = []
y = []
for _ in range(360):
x.append(0)
y.append(0)
port = "/dev/ttyUSB0" #linux
Obj = PyLidar3.YdLidarX4(
port) #PyLidar3.your_version_of_lidar(port,chunk_size)
threading.Thread(target=drive).start()
if (Obj.Connect()):
print(Obj.GetDeviceInfo())
gen = Obj.StartScanning()
t = time.time() # start time
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.0
rotate_rads = 0.0
def update_twist():
"""send twist to driver and change light color if moving"""
if linear_ms == 0.0 and rotate_rads == 0.0:
romi.pixels(0, 0, 100)
else:
romi.pixels(0, 100, 0)
romi.twist(linear_ms, rotate_rads)
# all set up, now run the robot
t_end = time.time() + 900
t_end1 = time.time() + 1
while True:
linear_ms = 0
rotate_rads = .2
update_twist()
if t_end1 < time.time():
break
# stop motors and shut down light
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('twist_linear',
type=float,
help='linear component of twist in m/s')
parser.add_argument('twist_angular',
type=float,
help='angular component of twist in radians/s')
parser.add_argument('time', type=float, help='time in seconds')
args = parser.parse_args()
print(args)
romi = AStar()
def monitor_pose():
monitor_freq_hz = 2.0
# move forward for two seconds
i = 0
while True:
print("{:} : poses ->"
" motor m/s {:}"
" twist_tuple {:}".format(i / monitor_freq_hz,
romi.read_pose_motors(),
romi.read_pose_twist()))
# print motor_speeds for two seconds
i = i + 1
time.sleep(1.0 / monitor_freq_hz)
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.0
rotate_rads = 0.0
def getch():
import sys, tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
def print_instructions():
print("press w,a,s,d,z to move the robot, q to quit:")
def print_speed():
print("UPDATED TWIST CMD: linear m/s %0.1f, rotation rad/s %0.1f" %
(linear_ms, rotate_rads))
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
distance = 10.0
runtime = 15.0
romi.twist(2 * 3.14 * distance / runtime, 2 * 3.14 / runtime)
time.sleep(runtime)
romi.twist(0.0, 0.0)
print("all done.")
#!/usr/bin/python2
#
# Print out the pose estimates
# without setting twist so that the
# user can push the robot around
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
try:
romi.reset_encoders()
while True:
romi.print_debug_info()
time.sleep(0.5)
except KeyboardInterrupt:
pass
except Exception as e:
print e
romi.close()
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
motor_delay_s = 5.0
forward_speed_m_s = 0.25
stop_speed_m_s = 1.25
romi = AStar()
# int main()
# turn off all LEDs
romi.leds(False, False, False)
romi.pixels(0, 0, 0)
print("Displaying Circle Code")
var = input("Press s/S to stop and any key to continue: ") #input
while var != "s" and var != "S":
currentTime = time.time()
nextTime = currentTime + motor_delay_s
while currentTime < nextTime: #loops for prev time delay
romi.twist(forward_speed_m_s, stop_speed_m_s) # makes a circle
currentTime = time.time()
romi.twist(0.0, 0.0) # stop
var = input("Press s/S to stop and any key to continue: ") #input
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
motor_delay_s = 2.0
forward_speed_m_s = 0.1
stop_speed_m_s = 0.0
romi = AStar()
def monitor_pose(duration_s):
monitor_freq_hz = 2.0
# move forward for two seconds
for i in range(0, int(duration_s*monitor_freq_hz)):
print("{:} twist {:}"
" motor speed m/s {:}"
" pose_twist {:}".format(
i / monitor_freq_hz,
romi.read_twist(),
romi.read_pose_motors(),
romi.read_pose_twist()))
# print motor_speeds for two seconds
time.sleep(1.0/monitor_freq_hz)
print("initializing...")
romi.pixels(0,0,255)
print("moving forwards...")
# twist format is forward vector, rotation vector
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
distance = 15
sides = 4
for j in range(sides):
for i in range(distance):
romi.twist(distance, 0.0)
time.sleep(1.0)
romi.twist(0.0, 3.14 / 2)
time.sleep(1.0)
romi.twist(0.0, 0.0)
print("all done.")
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
motor_delay_s = 2.2
forward_speed_m_s = 0.25
stop_speed_m_s = 0.0
romi = AStar()
# int main()
# turn off all LEDs
romi.leds(False, False, False)
romi.pixels(0, 0, 0)
print("Displaying Square Code")
var = input("Press s/S to stop and any key to continue: ") #input
while var != "s" and var != "S":
# twist format is forward vector, rotation vector
# moves in square
for i in range(4):
currentTime = time.time()
nextTime = currentTime + motor_delay_s # next time
while currentTime < nextTime: # loops for prev time
romi.twist(forward_speed_m_s, stop_speed_m_s) #go forward
currentTime = time.time()
romi.twist(stop_speed_m_s, stop_speed_m_s) # stop
currentTime = time.time()
nextTime = currentTime + (motor_delay_s / 2.0)
while currentTime < nextTime: # loops for prev time
romi.twist(stop_speed_m_s, 3.14159265358979323846 / 2) #turns
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.1
rotate_rads = 0.5
count = 0
finalCount = 48000
print("initializing...")
#romi.pixels(0,0,255)
print("begin circle...")
while(True):
romi.twist(linear_ms,rotate_rads)
count += 1
if (count == finalCount):
break
#!/usr/bin/python2
# pixels_utility.py
#
# Manually control the Neopixel colors
# on the Romi
#
# Peter F. Klemperer
# September 26, 2018
from romipi_astar.romipi_driver import AStar
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('red', type=int, help='red (0-255) value of pixel')
parser.add_argument('green', type=int, help='green (0-255) value of pixel')
parser.add_argument('blue', type=int, help='blue (0-255) value of pixel')
args = parser.parse_args()
print(args)
romi = AStar()
# turn on pixel according to arguments
romi.pixels(args.red, args.green, args.blue)
#!/usr/bin/python2
#
# Move the robot forwards and backwards
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.0
rotate_rads = 0.0
def getch():
import sys, tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
def print_instructions():
print("press a to move in circle, b for square")
# all set up, now run the robot
print_instructions()
while True:
c = getch()
