#!/usr/bin/env python
import sys, os, time, json
import picamera
from lib.utils import dbprint
from lib.camera import update_img
from lib.frobo_ng import frobo_ng
if __name__ == '__main__':
clockwise = int(sys.argv[1])
c = frobo_ng()
c.debug = True
with picamera.PiCamera() as camera:
try:
c.update_state()
print 'BEFORE %s cm to %s' % (c.state['sonar'], c.heading())
c.find_distance(1, clockwise=clockwise)
print 'AFTER %s cm to %s' % (c.state['sonar'], c.heading())
json.dump(c.dots, file('dots.json', 'w'), indent=2)
finally:
update_img(camera)
#!/usr/bin/env python
import sys, time, json
from lib.frobo_ng import frobo_ng
import picamera
from lib.camera import update_img
from lib.utils import dbprint
dist = float(sys.argv[1])
debug = False
c = frobo_ng(debug=debug)
cam = picamera.PiCamera()
try:
azim = c.heading()
dbprint('BEFORE %d (%d:%d)' % (azim, c.state['lcount'], c.state['rcount']))
c.move_straight(fwd=True, max_steps=c.m2steps(dist), max_secs=1)
dbprint('AFTER FWD %d (%d:%d)' %
(c.heading(), c.state['lcount'], c.state['rcount']))
update_img(cam)
azim -= 180
dbprint("Turning around to %d" % azim)
c.turn(azim, err=5)
dbprint('AFTER TURN %d (%d:%d)' %
(c.heading(), c.state['lcount'], c.state['rcount']))
json.dump(c.dots, file('dots.json', 'w'), indent=2)
finally:
update_img(cam)
c.update_state()
dbprint('EVENTUALLY %d (%d:%d)' %
