def main(macs,robot_ids):
log('Connecting with the ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
#~ robot = ePuck(mac, debug = True)
# else:
robotlist = []
for mac in macs:
robot = ePuck(mac,debug=False)
# Second, connect to it
robot.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
robot.enable('floor')
robotlist.append(robot)
log('Conection complete. CTRL+C to stop')
log('Library version: ' + robot.version)
except Exception, e:
error(e)
sys.exit(1)
def main(mac):
global_speed = 180
fs_speed = 0.6
threshold = 1000
log('Conecting with ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
#~ robot = ePuck(mac, debug = True)
# else:
robot = ePuck(mac)
# Second, connect to it
robot.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
robot.enable('floor', 'proximity')
leds_on = [0] * 8
log('Conection complete. CTRL+C to stop')
log('Library version: ' + robot.version)
times_got = []
except Exception, e:
error(e)
sys.exit(1)
def main(mac):
global_speed = 180
fs_speed = 0.6
threshold = 1000
window_name = 'image'
cv2.namedWindow(window_name, 1)
print('Connecting with the ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
# ~ robot = ePuck(mac, debug = True)
# ele:
robot = ePuck(mac)
# Second, connect to it
robot.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
robot.enable('camera')
# We have to set the camera parameters
robot.set_camera_parameters('RGB_365', 40, 40, 8)
log('Conection complete. CTRL+C to stop')
log('Library version: ' + robot.version)
except Exception, e:
error(e)
sys.exit(1)
def main(mac):
global_speed = 180
fs_speed = 0.6
threshold = 1000
log('Conecting with ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
#~ robot = ePuck(mac, debug = True)
# else:
robot = ePuck(mac)
# Second, connect to it
robot.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
robot.enable('floor', 'proximity')
leds_on = [0] * 8
log('Conection complete. CTRL+C to stop')
log('Library version: ' + robot.version)
times_got = []
except Exception, e:
error(e)
sys.exit(1)
def main(mac):
global_speed = 180
fs_speed = 0.6
threshold = 1000
print('Connecting with the ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
#~ robot = ePuck(mac, debug = True)
# ele:
robot = ePuck(mac)
# Second, connect to it
robot.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
robot.enable('camera', 'motor_position')
# We have to set the camera parameters
robot.set_camera_parameters('RGB_365', 40, 40, 8)
log('Conection complete. CTRL+C to stop')
log('Library version: ' + robot.version)
except Exception, e:
error(e)
sys.exit(1)
def main(mac):
log('Connecting with the ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
#~ robot = ePuck(mac, debug = True)
# else:
robot = ePuck(mac)
# Second, connect to it
robot.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
robot.enable('proximity')
log('Conection complete. CTRL+C to stop')
log('Library version: ' + robot.version)
except Exception, e:
error(e)
sys.exit(1)
from ePuck import ePuck
from ePuckUtil import *
import sys
import re
import cv2
import time
try:
mac = epucks['3674']
robot = ePuck(mac, debug=True)
robot.connect()
msg = robot.send_and_receive('V\n')
print msg
msg = robot.send_and_receive('V\n')
print msg
msg = robot.send_and_receive('V\n')
print msg
msg = robot.send_and_receive('V\n')
print msg
cv2.namedWindow('test', 1)
robot.enable('camera')
robot.set_camera_parameters('RGB_365', 40, 40, 1)
while (1):
robot.step()
image = robot.get_image()
print 'image: ', image
robot.show_image('test')
except KeyboardInterrupt:
print '\n'
def __init__(self, ttydev="/dev/ttyO0", epuck_name="epuck"):
self._driver = ePuck(ttydev, False)
self._name = epuck_name
def __init__(self, ttydev="/dev/ttyO0", epuck_name="epuck"): self._driver = ePuck(ttydev, False) self._name = epuck_name
#note we also have to specify the type to retrieve other wise we only get a
# FileNode object back instead of a matrix
mtx = cv_file.getNode("camera_matrix").mat()
dist = cv_file.getNode("dist_coeff").mat()
markerLength = 0.08
print('Connecting with the ePuck')
try:
# First, create an ePuck object.
# If you want debug information:
# ~ robot = ePuck(mac, debug = True)
# ele:
robot1 = ePuck(epucks['3281'])
robot2 = ePuck(epucks['3276'])
robot3 = ePuck(epucks['3214'])
# Second, connect to it
robot1.connect()
robot2.connect()
robot3.connect()
# You can enable various sensors at the same time. Take a look to
# to DIC_SENSORS for know the name of the sensors
for i in range(1, 8):
robot1.set_led(i, 1)
robot2.set_led(i, 1)
robot3.set_led(i, 1)
while current_state != goal_state:
action = int(np.argmax(Q[current_state]))
time.sleep(0.2)
Act(action, current_orientation)
time.sleep(1)
current_orientation = action
current_state = read_state()
print "State Reading: State%d" % current_state
# ---------------------------------------------
# Main body
print " Program started "
epuck = ePuck.ePuck("10:00:E8:D3:AA:03", False)
epuck.connect()
#robot.enable('floor', 'proximity')
epuck.enable('floor')
reward = np.array([
[0, 0, -1, 0], #0
[0, 10, -10, -1],
[-1, -1, 0, -1],
[10, -1, 0, -1],
[-1, 0, -10, -1],
[0, -1, -1, -1], #5
[-1, -1, 10, 0],
[-1, 0, -1, -1],
[0, -1, -1, -1],
markerLength = 0.08 # SET MARKER LENGTH IN (M)
print('Connecting with the ePuck')
# CONNECT WITH E-PUCKS - ALL LEDS LIGHT WHEN CONNECTED
try:
# First, create an ePuck object.
# If you want debug information:
# ~ robot = ePuck(mac, debug = True)
# else:
# robot1 = ePuck(epucks['3109'])
# robot2 = ePuck(epucks['3276'])
# robot3 = ePuck(epucks['3214'])
robot1 = ePuck(epucks['3279'])
robot2 = ePuck(epucks['3276'])
robot3 = ePuck(epucks['3305'])
# Second, connect to it
robot1.connect()
robot2.connect()
robot3.connect()
robot1.enable('proximity')
robot2.enable('proximity')
robot3.enable('proximity')
# You can enable various sensors at the same time. Take a look to DIC_SENSORS for know the name of the sensors
for i in range(1, 8): # turn on all lights
robot1.set_led(i, 1)
markerLength = 0.08 # SET MARKER LENGTH IN (M)
print('Connecting with the ePuck')
# CONNECT WITH E-PUCKS - ALL LEDS LIGHT WHEN CONNECTED
try:
# First, create an ePuck object.
# If you want debug information:
# ~ robot = ePuck(mac, debug = True)
# else:
# robot1 = ePuck(epucks['3109'])
# robot2 = ePuck(epucks['3276'])
# robot3 = ePuck(epucks['3214'])
robot1 = ePuck(epucks['3279'])
robot2 = ePuck(epucks['3302'])
robot3 = ePuck(epucks['3305'])
robot4 = ePuck(epucks['3111'])
# Second, connect to it
robot1.connect()
robot2.connect()
robot3.connect()
robot4.connect()
# You can enable various sensors at the same time. Take a look to DIC_SENSORS for know the name of the sensors
for i in range(1, 8): # turn on all lights
robot1.set_led(i, 1)
robot2.set_led(i, 1)
robot3.set_led(i, 1)
robot4.set_led(i, 1)