def make_sweep(): obstacle_range = numpy.zeros(NUMBER_OF_SCANS) index = 0 gopigo.enable_servo() #Scan the vicinity in front for angle in range(SCAN_START, SCAN_END + SCAN_STEP, SCAN_STEP): gopigo.servo(angle) time.sleep(SLEEP_TIME_BETWEEN_STEPS) distance = gopigo.us_dist(PORT_A1) #Take into account sense lmits if distance < SENSE_LIMIT and distance >= 0: obstacle_range[index] = distance - AVERAGE_DISTANCE_ERROR else: obstacle_range[index] = SENSE_LIMIT index += 1 gopigo.disable_servo() return obstacle_range
def make_sweep():
obstacle_range = numpy.zeros(NUMBER_OF_SCANS)
index = 0
gopigo.enable_servo()
#Scan the vicinity in front
for angle in range(SCAN_START, SCAN_END + SCAN_STEP, SCAN_STEP):
gopigo.servo(angle)
time.sleep(SLEEP_TIME_BETWEEN_STEPS)
distance = gopigo.us_dist(PORT_A1)
#Take into account sense lmits
if distance < SENSE_LIMIT and distance >= 0:
obstacle_range[index] = distance - AVERAGE_DISTANCE_ERROR
else:
obstacle_range[index] = SENSE_LIMIT
index += 1
gopigo.disable_servo()
return obstacle_range
def __init__(self, port="SERVO", gpg=None, use_mutex = False):
Sensor.__init__(self, port, "SERVO", use_mutex)
gopigo.enable_servo()
self.set_descriptor("Servo Motor")
if __name__ == "__main__":
if len(sys.argv) !=2:
print 'usage: GenerateSampleGpG.py <path_to_file_to_save> \n You must specify the path to the file you want to save as the first arg'
sys.exit(1)
filename = sys.argv[1]
sensor_dof = Sensor_Dof()
sensor_dof.on_init()
sensor_motor = Sensor_Motor()
sensor_motor.on_init()
sensor_motor.switchdualmotors()
sensor_motor.setMotorSpeed(90)
sensor_motor.on_loop()
gopigo.enable_servo()
print "enable_servo"
sample_acquire = main_usd_sample()
sample = GPG_Pos_Dist()
sample.release_element()
sample_acquire.rotate_usd(0)
print "Current angle :",sensor_dof.angle
one_sample = GPG_Pos_Dist_Element()
istep_main = 66
iangle_main = 0
istep_usd = 10
icone_usd = 60
max_sample_usd = 2
angle_main = sensor_dof.angle
sample_acquire.acquire_cone_usd(angle_main,one_sample,istep_usd,icone_usd,max_sample_usd)
def on_start_stop_servo(self):
if not self._servo:
gopigo.enable_servo()
else:
gopigo.disable_servo()
self._servo = not self._servo
def __init__(self, port="SERVO", gpg=None, use_mutex = False):
Sensor.__init__(self, port, "SERVO", use_mutex)
gopigo.enable_servo()
self.set_descriptor("Servo Motor")
def enable_servo(kargs):
r = {'return_value': gopigo.enable_servo()}
return r
