rc.arm() print(rc.getDeg()) #time.sleep(2) #rc.forward("time", 6, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 3, 0.25) #rc.yaw("time", 1.2, -0.25) #rc.forward("time", 6, 0.25)` start = 72 + 180 rc.setmode('ALT_HOLD') rc.throttle("time", 3, -0.25) rc.imu_turn(start) rc.forward("time", 5, 0.35) rc.forward("time", 5, 0.35) rc.yaw("imu", -45, 0.2) rc.forward("time", 3, 0.25) rc.yaw("imu", 90, 0.2) rc.forward("time", 3, 0.25) rc.yaw("imu", 90, 0.2) rc.forward("time", 3, 0.25) rc.yaw("imu", 90, 0.2) rc.forward("time", 3, 0.25)
wallDist = pingReturn[0] confidence = pingReturn[1] counter = counter + 1 print 'wall', wallDist print 'counter ', counter diff = wallDist - value print 'Laterl diff ', diff rc.lateralDist(diff) # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", DEPTH_SEC, -0.25) # align with the origin rc.imu_turn(START) rc.forward("time", 10, 0.35) leftAlign(2400) rc.imu_turn(START) rc.forward("time", 10, 0.35) leftAlign(1500) rc.imu_turn(START) rc.forward("time", 13, 0.35) leftAlign(3600) rc.imu_turn(START + 182) rc.forward("time", 13, 0.25) rc.imu_turn(START + 182) rightAlign(2300) rc.forward("time", 13, 0.35)
wallDist = 3800 if wallDist < 500: wallDist = 500 print 'wall', wallDist print 'counter ', counter diff = wallDist - value print 'Laterl diff ', diff rc.lateralDist(diff) # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", DEPTH_SEC, -0.25) # align with the origin rc.imu_turn(START) rc.forward("time", 10, 0.32) leftAlign(2400) rc.imu_turn(START) rc.forward("time", 5, 0.32) leftAlign(2000) rc.imu_turn(START) rc.forward("time", 5, 0.32) leftAlign(1500) rc.imu_turn(START) rc.forward("time", 5, 0.32) leftAlign(1500) rc.forward("time", 5, 0.32) leftAlign(3500)
rc.arm() print(rc.getDeg()) # global "origin" parameter START = 67 DEPTH_SEC = 3 SEC_PER_METER = 1 # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", DEPTH_SEC, -0.25) # align with the origin rc.imu_turn(START) rc.forward("time", 6, 0.35) while (ac.get_distance_fwd()[0] > 7000): rc.forward("time", 1, 0.35) rc.imu_turn(START - 45) rc.forward("time", 5, 0.25) rc.imu_turn(START + 45) rc.forward("time", 5, 0.25) rc.imu_turn(START + 135) rc.forward("time", 5, 0.25) rc.imu_turn(START + 225) rc.forward("time", 5, 0.25)
import time import navigation.imu as imu from navigation.log import * log = LogLib() rc = RCLib(log) rc.setmode('ALT_HOLD') rc.arm() rc.throttle("time", 1, -0.5) start = rc.getDeg() rc.imu_turn(start + 90) #i=0 #while (i<50) : # rc.getDeg() # rc.raw("yaw", 1555) # i = i+1 #start = rc.getDeg() #print(start) #print('Now Yawing') #rc.yaw("imu", 45, 0.2) #turn=90 #end = int(turn + start)
wallDist = pingReturn[0] confidence = pingReturn[1] counter = counter + 1 print 'wall', wallDist print 'counter ', counter diff = wallDist - value print 'Laterl diff ', diff rc.lateralDist(diff) # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", DEPTH_SEC, -0.25) # align with the origin rc.imu_turn(START) rc.forward("time", 10, 0.35) leftAlign(2400) rc.imu_turn(START) rc.forward("time", 5, 0.35) leftAlign(2000) rc.imu_turn(START) rc.forward("time", 5, 0.35) leftAlign(1500) rc.imu_turn(START) rc.forward("time", 5, 0.35) leftAlign(1500) rc.forward("time", 4, 0.35) leftAlign(2500) leftAlign(3500)
rc.setmode('MANUAL') rc.arm() print(rc.getDeg()) # global "origin" parameter start = 72 # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", 3, -0.25) # align with the origin rc.imu_turn(start) rc.forward("time", 10, 0.35) rc.imu_turn(start-45) rc.forward("time", 5, 0.25) rc.imu_turn(start+45) rc.forward("time", 5, 0.25) rc.imu_turn(start+135) rc.forward("time", 5, 0.25) rc.imu_turn(start+225) rc.forward("time", 5, 0.25)
wallDist = pingReturn[0] confidence = pingReturn[1] counter = counter + 1 print 'wall', wallDist print 'counter ', counter diff = wallDist - value print 'Laterl diff ', diff rc.lateralDist(diff) # depth hold and go down rc.setmode('ALT_HOLD') rc.throttle("time", DEPTH_SEC, -0.25) # align with the origin rc.imu_turn(START) rc.forward("time", 10, 0.35) leftAlign(GATECENTER) rc.imu_turn(START) rc.forward("time", 1, 0.35) leftAlign(GATECENTER - 750) rc.imu_turn(START) rc.forward("time", 1, 0.35) leftAlign(GATECENTER + 750) rc.imu_turn(START + 185) rc.forward("time", 1, 0.25) rc.imu_turn(START + 185) rightAlign(GATECENTER) rc.forward("time", 1, 0.35)