import brickpi
from BrickPi.Utility import Car
interface=brickpi.Interface()
interface.initialize()
Robot = Car(interface)
for i in range(4):
Robot.moveForward(40)
Robot.moveLeft(90)
interface.terminate()
import brickpi
import time
import sys
from BrickPi.Utility import Car
import newFile
import random
interface=brickpi.Interface()
interface.initialize()
sonar_port = None
touch_port = None
Robot = Car(interface)
distance = 10
newFile.DrawLines()
e = 0
f = 0
numberOfParticles = 100
particles = [(0, 0, 0) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
angle = 90
for i in range(4):
for j in range(4):
Robot.moveForward(distance)
particles = [
(newFile.Forward(particles[i][0], particles[i][1], particles[i][2], distance, random.gauss(0, 3),
random.gauss(0, 2))) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.5)
Robot.moveright(angle)
particles = [(newFile.Rotate(particles[i][0], particles[i][1], particles[i][2], angle, random.gauss(0, 2)))
for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
import brickpi
import time
import math
from BrickPi.Utility import Car
def fun(mode):
return
interface = brickpi.Interface()
interface.initialize()
Robot = Car(interface)
mode = int(
input(
"Which parameter you want to tune?\nType 1 for Kp, 2 for Ki, 3 for Kd")
)
min = int(input("Enter minimum:"))
max = int(input("ENter maximum:"))
increment = int(input("Enter incremental value:"))
dict = {'min': min, 'max': max, 'increment': increment, 'mode': mode}
input_angle = float(input("Enter a angle to rotate (in degree): "))
with open("logs/logs_name.txt", "w") as f:
for i in range(min, max, increment, input_angle):
if dict['mode'] == 1:
Robot.motorParams["Left"].pidParameters.k_p = i
Robot.motorParams["Right"].pidParameters.k_p = i
Robot.interface.setMotorAngleControllerParameters(
import brickpi
import time
import sys
from BrickPi.Utility import Car
import newFile
import random
interface = brickpi.Interface()
interface.initialize()
sonar_port = None
touch_port = None
Robot = Car(interface, config_file='carpet_params.json')
distance = 10
newFile.DrawLines()
e = 0
f = 0
numberOfParticles = 100
particles = [(0, 0, 0) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
angle = 90
for i in range(4):
for j in range(4):
Robot.moveForward(distance)
particles = [(newFile.Forward(particles[i][0], particles[i][1],
particles[i][2], distance,
random.gauss(0, 3), random.gauss(0, 2)))
for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.5)
Robot.moveright(angle)
particles = [(newFile.Rotate(particles[i][0], particles[i][1],
particles[i][2], angle, random.gauss(0, 2)))
import threading
import time
import sys
from BrickPi.Utility import Car
import BrickPi
interface = brickpi.Interface()
interface.initialize()
interface.startLogging("motor_position_1.log")
Robot = Car(interface, config_file='carpet_params.json')
# Robot.rotate_ultrasonic_motor(float(sys.argv[1]))
Robot.set_ultra_pose(float(sys.argv[1]))
interface.stopLogging()
interface.terminate()
import brickpi
from BrickPi.Utility import Car
interface=brickpi.Interface()
interface.initialize()
Robot = Car(interface,config_file='carpet_params.json')
for i in range(4):
Robot.moveForward(40)
Robot.moveLeft(90)
interface.terminate()
import brickpi
import time
from BrickPi.Utility import Car
interface = brickpi.Interface()
interface.initialize()
Robot = Car(interface)
Robot.moveForward(6)
print "Press Ctrl+C to exit"
while True:
time.sleep(1)
interface.terminate()