Python MoveRobot示例

示例#1

文件： SenseLandmarks.py 项目： gopalmenon/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

def get_nearest_obstacle():

	obstacle_range = make_sweep()
	nearest_obstacle_index = numpy.argmin(obstacle_range)
	if (obstacle_range[nearest_obstacle_index] == SENSE_LIMIT):
		no_obstacles_found = True
	else:
		no_obstacles_found = False

	#Look for an obstacle
	search_angle = 0
	while no_obstacles_found:
		
		# Turn clockwise by the step degrees to check there
		search_angle += SEARCH_LANDMARK_STEP
		MoveRobot.turn_in_place(SEARCH_LANDMARK_STEP)

		# Look for obstacles
		obstacle_range = make_sweep()
		nearest_obstacle_index = numpy.argmin(obstacle_range)
		if (obstacle_range[nearest_obstacle_index] == SENSE_LIMIT):
			no_obstacles_found = True
		else:
			no_obstacles_found = False

		# if no obstacle found anywhere, move forward and search again
		if no_obstacles_found and search_angle >= MoveRobot.FULL_REVOLUTION_DEGREES :
			search_angle = 0
			print("Going to move ", MoveRobot.ROBOT_LENGTH_CM)
			MoveRobot.go_forward(MoveRobot.ROBOT_LENGTH_CM)

	return get_angle_to_obstacle(nearest_obstacle_index), obstacle_range[nearest_obstacle_index]

示例#2

文件： SenseLandmarks.py 项目： jaehyek/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

def get_nearest_obstacle():

    obstacle_range = make_sweep()
    nearest_obstacle_index = numpy.argmin(obstacle_range)
    if (obstacle_range[nearest_obstacle_index] == SENSE_LIMIT):
        no_obstacles_found = True
    else:
        no_obstacles_found = False

    #Look for an obstacle
    search_angle = 0
    while no_obstacles_found:

        # Turn clockwise by the step degrees to check there
        search_angle += SEARCH_LANDMARK_STEP
        MoveRobot.turn_in_place(SEARCH_LANDMARK_STEP)

        # Look for obstacles
        obstacle_range = make_sweep()
        nearest_obstacle_index = numpy.argmin(obstacle_range)
        if (obstacle_range[nearest_obstacle_index] == SENSE_LIMIT):
            no_obstacles_found = True
        else:
            no_obstacles_found = False

        # if no obstacle found anywhere, move forward and search again
        if no_obstacles_found and search_angle >= MoveRobot.FULL_REVOLUTION_DEGREES:
            search_angle = 0
            print("Going to move ", MoveRobot.ROBOT_LENGTH_CM)
            MoveRobot.go_forward(MoveRobot.ROBOT_LENGTH_CM)

    return get_angle_to_obstacle(
        nearest_obstacle_index), obstacle_range[nearest_obstacle_index]

示例#3

文件： CalibrateRobot.py 项目： jaehyek/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

def calibrate_move():

    count = 0

    while (True):

        count += 1
        if count > NUMBER_OF_ITERATIONS:
            break

        MoveRobot.go_forward(MoveRobot.ROBOT_LENGTH_CM)
        raw_input("Press Enter to continue")

示例#4

文件： CalibrateRobot.py 项目： gopalmenon/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

def calibrate_move():

	count = 0

	while (True):

		count += 1
		if count > NUMBER_OF_ITERATIONS:
			break

		MoveRobot.go_forward(MoveRobot.ROBOT_LENGTH_CM)
		raw_input("Press Enter to continue")

示例#5

文件： CalibrateRobot.py 项目： jaehyek/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

def calibrate_turn():

    angle = 5
    count = 0

    while (True):

        count += 1
        if count > NUMBER_OF_ITERATIONS:
            break

        print("Going to turn ", angle, " degrees.")
        MoveRobot.turn_in_place(angle)
        angle += 5
        raw_input("Press Enter to continue")

示例#6

文件： CalibrateRobot.py 项目： gopalmenon/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

def calibrate_turn():

	angle = 5
	count = 0

	while (True):

		count += 1
		if count > NUMBER_OF_ITERATIONS:
			break

		print("Going to turn ", angle, " degrees.")
		MoveRobot.turn_in_place(angle)
		angle += 5
		raw_input("Press Enter to continue")

示例#7

import MoveRobot
import RobotPosePrediction
import SenseLandmarks
import gopigo
import time
import numpy

#MoveRobot.go_towards_nearest_obstacle()
#MoveRobot.go_forward(22.86)
#MoveRobot.go_backwards(100)

MoveRobot.go_towards_nearest_obstacle()
print("Pose is now ", RobotPosePrediction.currentRobotPose)
print("Uncertainty is now ",
      RobotPosePrediction.currentRobotLocationUncertainty)

print("Voltage ", gopigo.volt())

示例#8

文件： test.py 项目： gopalmenon/Raspberri-Pi-GoPiGo-Robot-EKF-SLAM

import MoveRobot
import RobotPosePrediction
import SenseLandmarks
import gopigo
import time
import numpy


#MoveRobot.go_towards_nearest_obstacle()
#MoveRobot.go_forward(22.86)
#MoveRobot.go_backwards(100)


MoveRobot.go_towards_nearest_obstacle()
print("Pose is now ", RobotPosePrediction.currentRobotPose)	
print("Uncertainty is now ", RobotPosePrediction.currentRobotLocationUncertainty)	

print("Voltage ", gopigo.volt())