Python Drive.get_odom示例

示例#1

from __future__ import division
import numpy as np
import time
from drive import Drive

drive = Drive('/dev/ttyACM0')

last_odom = [0, 0, 0, 0]
ID = 1

while True:

    # ODOM TEST:

    odom, timestamp = drive.get_odom()

    if not np.allclose(odom, last_odom):
        last_odom = odom
        print np.round(odom, 2)

    time.sleep(10 / 1000)

    # MOTOR TEST:

    # val = 15
    # rest = 1

    # print "forward"
    # drive.set_effort([val+10, val])
    # time.sleep(rest)