def load_default_settings(path):
BASE_FOLDER = os.path.abspath(path)
SOURCE_FOLDER = os.path.abspath(os.path.join(BASE_FOLDER, 'src'))
OUTPUT_FOLDER = os.path.abspath(os.path.join(BASE_FOLDER, 'dist'))
STATIC_FOLDER = os.path.abspath(os.path.join(BASE_FOLDER, 'theme', 'static'))
TEMPLATES_FOLDER = os.path.abspath(os.path.join(BASE_FOLDER, 'theme', 'templates'))
PLUGINS_FOLDER = os.path.abspath(os.path.join(BASE_FOLDER, 'plugins',))
MD = mistune.Markdown()
JINJA_ENV = Environment(
loader=FileSystemLoader([TEMPLATES_FOLDER])
)
ARTICLE_TYPES = ['article']
INDEX_TYPES = ['index']
PLUGINS = []
SITEURL = "/"
CONTEXT = Map({
"BASE_FOLDER": BASE_FOLDER,
"SOURCE_FOLDER": SOURCE_FOLDER,
"OUTPUT_FOLDER": OUTPUT_FOLDER,
"STATIC_FOLDER": STATIC_FOLDER,
"MD": MD,
"JINJA_ENV": JINJA_ENV,
"ARTICLE_TYPES": ARTICLE_TYPES,
"INDEX_TYPES": INDEX_TYPES,
"PLUGINS": PLUGINS,
"PLUGINS_FOLDER": PLUGINS_FOLDER,
"SITEURL": SITEURL,
"authors": set()
})
return CONTEXT
#! /usr/bin/python3
from brickpi3 import BrickPi3
from helper import RobotBase, Canvas, Map
from time import sleep
from math import pi
canvas = Canvas(210)
mymap = Map()
# to waypoint
robot = RobotBase(BrickPi3.PORT_B,
BrickPi3.PORT_C,
BrickPi3.PORT_D,
BrickPi3.PORT_4,
mymap,
p_start=(84.0, 30.0, 0),
debug_canvas=canvas)
robot.to_relative_forward(100)
import vrep
import time
from helper import Map
from quadcopeter import Quadcopter
if __name__ == "__main__":
x = [-9, 9] # x map limit
y = [-11, 9] # y map limit
z = [0.05, 1.8] # z map limit
server = '127.0.0.1'
port = 19999
sim = Map(x, y, z) # init map parameters
sim.start_connection(server, port) #start connection with vrep simulation
if sim.clientID != -1:
print("Connected to remote API server")
quad = Quadcopter(sim) #init quadcopter
quad.create_proximity_sensors(
) #initializing quadcopter proximity sensors
quad.create_vision_sensor(
) #initializing quadcopter proximity vision sensor
sim.get_position(
quad.target,
vrep.simx_opmode_streaming) # update targe position in map
time.sleep(0.2)
#put quadcopter on initial position
#! /usr/bin/python3 from brickpi3 import BrickPi3 import numpy as np from helper import RobotBase, Canvas, Map from time import sleep from math import pi, radians, degrees import matplotlib.pyplot as plt canvas = Canvas(210) mymap = Map() # draw wall # Definitions of walls # a: O to A # b: A to B # c: C to D # d: D to E # e: E to F # f: F to G # g: G to H # h: H to O mymap.add_wall((0, 0, 0, 168)) # a mymap.add_wall((0, 168, 84, 168)) # b mymap.add_wall((84, 126, 84, 210)) # c mymap.add_wall((84, 210, 168, 210))
#! /usr/bin/python3 from brickpi3 import BrickPi3 import numpy as np from helper import RobotBase, Canvas, Map from time import sleep from math import pi, radians, degrees, atan2 import matplotlib.pyplot as plt canvas = Canvas(210) mymap = Map() # draw wall # Definitions of walls # a: O to A # b: A to B # c: C to D # d: D to E # e: E to F # f: F to G # g: G to H
#! /usr/bin/python3 from brickpi3 import BrickPi3 from helper import RobotBase, Canvas, Map from time import sleep from math import pi canvas = Canvas(210) mymap = Map() # draw wall # Definitions of walls # a: O to A # b: A to B # c: C to D # d: D to E # e: E to F # f: F to G # g: G to H # h: H to O mymap.add_wall((0,0,0,168)); # a mymap.add_wall((0,168,84,168)); # b mymap.add_wall((84,126,84,210)); # c mymap.add_wall((84,210,168,210)); # d mymap.add_wall((168,210,168,84)); # e mymap.add_wall((168,84,210,84)); # f mymap.add_wall((210,84,210,0)); # g mymap.add_wall((210,0,0,0)); # h canvas.drawLines(mymap.walls) name_list = ["a","b","c","d","e","f","g","h"]
#! /usr/bin/python3
from brickpi3 import BrickPi3
from helper import RobotBase, Canvas, Map
from time import sleep
from math import pi
robot = RobotBase(BrickPi3.PORT_B, BrickPi3.PORT_C)
canvas = Canvas(40)
mymap = Map()
# draw wall
wall_corner = [(0,0), (0,40), (40,40), (40,0)]
for i in range(3):
mymap.add_wall((*wall_corner[i], *wall_corner[i+1]))
mymap.add_wall((*wall_corner[3], *wall_corner[0]))
# draw lines
canvas.drawLines(mymap.walls)
# init
for _ in range(4):
for _ in range(4):
robot.to_relative_forward(10) # *task unpack to arguments
canvas.drawParticles(robot.p_tuples, robot.p_weights)
print (f"est postion:{robot.get_est_pos()}")
sleep(1)
robot.to_relative_turn(0.5*pi)