gps_pos = GPSServerConnection()
robot = SerialCommands('/dev/ttyAMA0',115200)
pos_x=[]
pos_y=[]
if __name__ == '__main__':
pos,t = gps_pos.getPosition(1)
pos_x.append(pos[0])
pos_y.append(pos[1])
robot.startLineFollowing(20)
for i in range(1,40):
pos_x.append(pos_x[i-1]+ (20*0.465*0.2)*0.2516)
pos_y.append(pos_y[i-1])
time.sleep(0.2)
print pos_x[39]
robot.init()
print gps_pos.getPosition(1)
#!/usr/bin/env python
# -*- coding: utf-8
import struct, time
import kbhit
from RobotCommunication import SerialCommands
robot = SerialCommands('/dev/ttyAMA0',115200)
kb = kbhit.KBHit()
print robot.init()
if __name__ == '__main__':
robot.startLineFollowing(20) ###start line following with speed 1-127
while 1:
if kb.kbhit(): ### check if the key is pressed
key = kb.getch()
if key == 'r': ##if pressed "r" go from left to right lane
robot.laneChange(1)
if key == 'l': ##if pressed "l" go from right to left lane
robot.laneChange(-1)
if key == 's': ## if pressed "s" stop the robot
robot.init()
from RobotCommunication import SerialCommands
import numpy as np
import time
gps_pos = GPSServerConnection()
robot = SerialCommands('/dev/ttyAMA0', 115200)
pos_x = []
pos_y = []
if __name__ == '__main__':
pos, t = gps_pos.getPosition(1)
pos_x.append(pos[0])
pos_y.append(pos[1])
robot.startLineFollowing(20)
for i in range(1, 40):
pos_x.append(pos_x[i - 1] + (20 * 0.465 * 0.2) * 0.2516)
pos_y.append(pos_y[i - 1])
time.sleep(0.2)
print pos_x[39]
robot.init()
print gps_pos.getPosition(1)
