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robot_clockwise_square.py
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robot_clockwise_square.py
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#!/usr/bin/env python
# /* -*- indent-tabs-mode:t; tab-width: 8; c-basic-offset: 8 -*- */
# /*
# Copyright (c) 2014, Daniel M. Lofaro <dan (at) danLofaro (dot) com>
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the author nor the names of its contributors may
# be used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
# */
import diff_drive
import ach
import sys
import time
from ctypes import *
import socket
import cv2.cv as cv
import cv2
import numpy as np
import actuator_sim as ser
#-----------------------------------------------------
#--------[ Do not edit above ]------------------------
#-----------------------------------------------------
# Add imports here
from robot_command import createCommandPacket
from params import multiplyVelocity
#-----------------------------------------------------
#--------[ Do not edit below ]------------------------
#-----------------------------------------------------
dd = diff_drive
ref = dd.H_REF()
tim = dd.H_TIME()
ROBOT_DIFF_DRIVE_CHAN = 'robot-diff-drive'
ROBOT_CHAN_VIEW = 'robot-vid-chan'
ROBOT_TIME_CHAN = 'robot-time'
# CV setup
r = ach.Channel(ROBOT_DIFF_DRIVE_CHAN)
r.flush()
t = ach.Channel(ROBOT_TIME_CHAN)
t.flush()
i=0
print '======================================'
print '============= Robot-View ============='
print '========== Daniel M. Lofaro =========='
print '========= dan@danLofaro.com =========='
print '======================================'
ref.ref[0] = 0
ref.ref[1] = 0
while True:
[status, framesize] = t.get(tim, wait=False, last=True)
if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
pass
#print 'Sim Time = ', tim.sim[0]
else:
raise ach.AchException( v.result_string(status) )
#-----------------------------------------------------
#--------[ Do not edit above ]------------------------
#-----------------------------------------------------
# Main Loop
# Def:
# tim.sim[0] = Sim Time
#wait for sim time to correct; it always seems to start at zero regardless of actual sim time
prev_tim = tim.sim[0]
while prev_tim == 0:
time.sleep(0x05)
[status, framesize] = t.get(tim, wait=False, last=True)
if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
pass
#print 'Sim Time = ', tim.sim[0]
else:
raise ach.AchException( v.result_string(status) )
prev_tim = tim.sim[0]
print 'Sim Time = ', tim.sim[0]
# Sleeps
#time.sleep(0.1)
i = 0
while i < 4:
j = 0
while j < 4:
#move straight
fullSpeedAhead = [0xFF, 0x07]
fullReverse = [0xFF, 0x03]
fullStop = [0x00, 0x00]
buff = createCommandPacket(0x00, 4, 0x20, fullSpeedAhead)
ref = ser.serial_sim(r,ref,buff)
buff = createCommandPacket(0x01, 4, 0x20, fullSpeedAhead)
ref = ser.serial_sim(r,ref,buff)
#wait for a couple seconds before slowing down down
prev_tim = tim.sim[0]
while tim.sim[0] < prev_tim + 4.0:
time.sleep(0.05)
[status, framesize] = t.get(tim, wait=False, last=True)
if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
pass
print 'Moving straight, Sim Time = ', tim.sim[0]
else:
raise ach.AchException( v.result_string(status) )
#slow down before turning
k = 160
while True: #do-while loop. condition ends at k=0
k -=1
if (k==0):
break
time.sleep(0.05)
[status, framesize] = t.get(tim, wait=False, last=True)
if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
pass
print 'Slowing movement, Sim Time = ', tim.sim[0]
else:
raise ach.AchException( v.result_string(status) )
slowDown = multiplyVelocity(fullSpeedAhead, 1.0-(1.0/float(k)))
buff = createCommandPacket(0x00, 4, 0x20, slowDown)
ref = ser.serial_sim(r,ref,buff)
buff = createCommandPacket(0x01, 4, 0x20, slowDown)
ref = ser.serial_sim(r,ref,buff)
#full stop to stabilize --turns out stopping is the fastest way to destabilize this robot
# buff = createCommandPacket(0x00, 4, 0x20, fullStop)
# ref = ser.serial_sim(r,ref,buff)
# buff = createCommandPacket(0x01, 4, 0x20, fullStop)
# ref = ser.serial_sim(r,ref,buff)
# prev_tim = tim.sim[0]
# while tim.sim[0] < prev_tim + 1.0:
# time.sleep(0.05)
# [status, framesize] = t.get(tim, wait=False, last=True)
# if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
# pass
# print 'Full stop, Sim Time = ', tim.sim[0]
# else:
# raise ach.AchException( v.result_string(status) )
#turn
buff = createCommandPacket(0x00, 4, 0x20, fullReverse)
ref = ser.serial_sim(r,ref,buff)
buff = createCommandPacket(0x01, 4, 0x20, fullSpeedAhead)
ref = ser.serial_sim(r,ref,buff)
#wait for the time it takes to turn 90 degrees.
# prev_tim = tim.sim[0]
# while tim.sim[0] < prev_tim + 0.5:
# time.sleep(0.05)
# [status, framesize] = t.get(tim, wait=False, last=True)
# if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
# pass
# print 'Turning, Sim Time = ', tim.sim[0]
# else:
# raise ach.AchException( v.result_string(status) )
k = 45
while True: #do-while loop. condition ends at k=0
k -=1
if (k==0):
break
time.sleep(0.05)
[status, framesize] = t.get(tim, wait=False, last=True)
if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
pass
print 'slowing turn, Sim Time = ', tim.sim[0]
else:
raise ach.AchException( v.result_string(status) )
slowDown = multiplyVelocity(fullReverse, 1.0-(1.0/float(k)))
buff = createCommandPacket(0x00, 4, 0x20, slowDown)
ref = ser.serial_sim(r,ref,buff)
slowDown = multiplyVelocity(fullSpeedAhead, 1.0-(1.0/float(k)))
buff = createCommandPacket(0x01, 4, 0x20, slowDown)
ref = ser.serial_sim(r,ref,buff)
#full stop to stabilize
buff = createCommandPacket(0x00, 4, 0x20, fullStop)
ref = ser.serial_sim(r,ref,buff)
buff = createCommandPacket(0x01, 4, 0x20, fullStop)
ref = ser.serial_sim(r,ref,buff)
prev_tim = tim.sim[0]
while tim.sim[0] < prev_tim + 2.0:
time.sleep(0.05)
[status, framesize] = t.get(tim, wait=False, last=True)
if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME or status == ach.ACH_STALE_FRAMES:
pass
print 'Full stop, Sim Time = ', tim.sim[0]
else:
raise ach.AchException( v.result_string(status) )
j = j+1
i = i+1
break
buff = createCommandPacket(0x00, 4, 0x20, [0x00, 0x00])
ref = ser.serial_sim(r,ref,buff)
buff = createCommandPacket(0x01, 4, 0x20, [0x00, 0x00])
ref = ser.serial_sim(r,ref,buff)
#-----------------------------------------------------
#--------[ Do not edit below ]------------------------
#-----------------------------------------------------