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()
break
sock.send(s)
temp_data = sock.recvfrom(1024)
dist = ord(temp_data[0])
tim = time.time() - ft
print "time took :", tim
rawCapture.truncate(0)
return dist * 10, tim #return distance in mm
if __name__ == '__main__':
robot.startLineFollowing(50)
v_now = 60
dist, t_im = findDist()
P = 18
I = 1
err = 0
while (1):
if dist > 0:
if dist >= cruise_dist:
err_prev = err
err = (dist - v_now * t_im) - cruise_dist
i_err = scipy.integrate.simps([int(err_prev), int(err)])
err_new = P * err + I * i_err
temp_sp = min(v_desr, err * t_im)
temp_data = sock.recvfrom(1024)
dist = ord(temp_data[0])
tim = time.time()-ft
print "time took :",tim
rawCapture.truncate(0)
return dist*10,tim #return distance in mm
if __name__ == '__main__':
robot.startLineFollowing(50)
v_now = 60
dist,t_im= findDist()
P = 18
I = 1
err = 0
while (1):
if dist>0:
if dist >= cruise_dist:
err_prev = err
err = (dist-v_now*t_im) - cruise_dist
i_err = scipy.integrate.simps([int(err_prev), int(err)])
err_new = P*err + I*i_err
temp_sp = min(v_desr, err*t_im)
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)
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)
