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)