import time
import math
from flask import request, Flask, send_from_directory
from Omnibot import *
app = Flask(__name__)
twitch = Omnibot()
@app.route('/')
def hello():
return send_from_directory('html', 'index.html')
@app.route('/move')
def move():
direction, speed = float(request.args.get('direction')), float(
request.args.get('speed'))
twitch.move(math.radians(direction), speed)
return 'hooray'
@app.route('/spin')
def spin():
speed = float(request.args.get('speed'))
twitch.spin(speed)
return 'dizzy'
@app.route('/stop')
def halt():
from termcolor import colored
from time import sleep
import math
from IMU import *
from Omnibot import *
from PID import *
imu = IMU(1)
zeroAngle = math.radians(180)
twitch = Omnibot()
def getDriveAngle(x, y, zeroAngle):
fallingAngle = math.atan2(x, y)
if fallingAngle < 0:
fallingAngle = fallingAngle + 2 * math.pi
drivingAngle = fallingAngle + math.pi + zeroAngle
if drivingAngle > 2 * math.pi:
drivingAngle = drivingAngle - 2 * math.pi
return drivingAngle
def getDriveSpeed(x, y):
drivingSpeed = 200 * (x**2 + y**2)**(.5)
return drivingSpeed
pitch = []
roll = []
pitchPIDController = PIDController()
import time
import math
from Omnibot import *
twitch = Omnibot()
twitch.move(math.radians(77), 2)
time.sleep(2)
while True:
#twitch.move(math.radians(77), 2)
time.sleep(60.0 / 400 / 50)
from termcolor import colored
from time import sleep
import math
from IMU import *
from Omnibot import *
from PID import *
imu = IMU(1)
zeroAngle = math.radians(103)
twitch = Omnibot()
def getDriveAngle (x, y, zeroAngle):
fallingAngle = math.atan2(x, y)
if fallingAngle < 0:
fallingAngle = fallingAngle + 2 * math.pi
drivingAngle = fallingAngle + math.pi + zeroAngle
if drivingAngle > 2 * math.pi:
drivingAngle = drivingAngle - 2 * math.pi
return drivingAngle
def getDriveSpeed (x, y):
drivingSpeed = 200 * (x ** 2 + y ** 2) ** (.5)
return drivingSpeed
pitch = []
roll = []
pitchPIDController = PIDController()
rollPIDController = PIDController()
count = 0
while True:
import time
import math
from Omnibot import *
zeroAngle = math.radians(103)
twitch = Omnibot()
twitch.move(0, 2)
while True:
time.sleep(.1)
import time
import math
from Omnibot import *
twitch = Omnibot()
twitch.move(math.radians(77), 2)
time.sleep(2)
while True:
#twitch.move(math.radians(77), 2)
time.sleep(60.0 / 400 / 50)
import time import math from Omnibot import * zeroAngle = math.radians(103) twitch = Omnibot() # for direction in range(0, 360, 10): # twitch.move(math.radians(direction), 5) # time.sleep(.5) # print math.radians(direction) # time.sleep(.25) # twitch.spin(40) # time.sleep(.5) # twitch.spin(0) # time.sleep(2) # twitch.spin(-10) # time.sleep(2) twitch.stop()
