@asyncio.coroutine
def main(r):
task = asyncio.ensure_future(find_cubes(r))
try:
yield From(asyncio.wait_for(task, SILO_TIME))
except asyncio.TimeoutError:
pass
yield From(clean_up(r))
if __name__ == "__main__":
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer, map=Arena.load('sw/mapping/red_map.txt'))
cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
v = Vision(cam)
c = ControlPanel(r)
w = Window(500, [m, CameraPanel(v), c])
while not c.started:
pass
log.debug("started")
loop = asyncio.get_event_loop()
loop.set_debug(True)
loop.run_until_complete(main(r))
loop.close()
from sw.mapping import Mapper
from sw.mapping.arena import Arena
from sw.vision import Vision, CameraPanel, Camera
from sw.gui import window, ControlPanel
from sw.hal import *
from sw import constants
import pygame
import time
from tamproxy import TAMProxy
if __name__ == "__main__":
cam = Camera(geom=constants.camera_geometry, id=1)
v = Vision(cam)
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer,
map=Arena.load('../sw/mapping/red_map.txt'))
w = window.Window(
500, [m, CameraPanel(v), ControlPanel(r)
]) #[Mapper(drive.odometer), CameraPanel(500, v)])
while True:
v.update()
m.update_cubes_from(v)
time.sleep(0.05)
pass
import cv2
from tamproxy import TAMProxy
from tamproxy.devices import LongIR
if __name__ == "__main__":
with TAMProxy() as tamproxy:
drive = Drive(tamproxy)
leftIR = LongIR(tamproxy, pins.l_ir_long)
rightIR = LongIR(tamproxy, pins.r_ir_long)
left_pid = sw.util.PID(0.1, setpoint=20)
right_pid = sw.util.PID(0.1, setpoint=20)
m = Mapper(drive.odometer)
cam = Camera(geom=sw.constants.camera_geometry, id=0)
v = Vision(cam)
w = Window(500, [m, CameraPanel(500, v)])
while True:
try:
v.update()
except IOError:
continue
m.update_cubes_from(v)
print "Right: {:.1f}, Left: {:.1f}".format(
rightIR.distInches, leftIR.distInches)
if leftIR.distInches < 14 and rightIR.distInches < 14:
print("corner")