interface.initialize() config = str(sys.argv[1]) Robot = Robot(interface, pid_config_file=config) bumpers = [None, None] speeds = [6, 6] zeros = [0, 0] Robot.set_speed(speeds) #Robot.start_debugging() while True: bumpers[0] = Robot.get_bumper("left") bumpers[1] = Robot.get_bumper("right") if bumpers[0] and bumpers[1]: Robot.stop() Robot.travel_straight(-3) Robot.rotate_right(30) Robot.set_speed([-x for x in speeds]) if not bumpers[0] and bumpers[1]: Robot.stop() Robot.rotate_left(30) Robot.set_speed([-x for x in speeds]) if bumpers[0] and not bumpers[1]: Robot.stop() Robot.rotate_right(30) Robot.set_speed([-x for x in speeds]) interface.terminate()
#Initialize the interface interface=brickpi.Interface() interface.initialize() NUMBER_OF_PARTICLES = None OFFSET = 100 DISTANCE_TO_PIXEL = 15 #Draw the square print "drawLine:" + str((OFFSET,OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET)) print "drawLine:" + str((40*DISTANCE_TO_PIXEL+OFFSET,OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET+40*DISTANCE_TO_PIXEL)) print "drawLine:" + str((40*DISTANCE_TO_PIXEL+OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET,40*DISTANCE_TO_PIXEL+OFFSET)) print "drawLine:" + str((OFFSET,40*DISTANCE_TO_PIXEL+OFFSET,OFFSET,OFFSET)) Robot = Robot(interface, pid_config_file="carpet_config.json") for i in range(4): for j in range(4): Robot.travel_straight(10,update_particles=True) NUMBER_OF_PARTICLES = Robot.get_state() NUMBER_OF_PARTICLES = [(OFFSET+point[0][0]*DISTANCE_TO_PIXEL,OFFSET+point[0][1]*DISTANCE_TO_PIXEL,point[0][2]) for point in NUMBER_OF_PARTICLES] print "drawParticles:" + str(NUMBER_OF_PARTICLES) time.sleep(5) Robot.rotate_right(90,update_particles=True) NUMBER_OF_PARTICLES = Robot.get_state() NUMBER_OF_PARTICLES = [(OFFSET+point[0][0]*DISTANCE_TO_PIXEL,OFFSET+point[0][1]*DISTANCE_TO_PIXEL,point[0][2]) for point in NUMBER_OF_PARTICLES] print "drawParticles:" + str(NUMBER_OF_PARTICLES) time.sleep(5) interface.terminate()
import threading import time from src.robot import Robot import brickpi #Initialize the interface interface=brickpi.Interface() interface.initialize() Robot = Robot(interface, pid_config_file="carpet_config.json") Robot.travel_straight(40) time.sleep(5) Robot.travel_straight(-40) time.sleep(5) Robot.rotate_left(90) time.sleep(5) Robot.rotate_right(90) interface.terminate()
import threading import time import sys from src.robot import Robot import brickpi #Initialize the interface interface = brickpi.Interface() interface.initialize() interface.startLogging("motor_position_1.log") Robot = Robot(interface, 'paper_config.json') Robot.rotate_right(float(sys.argv[1])) interface.stopLogging() interface.terminate()