import rob1a_v01 as rob1a
import numpy as np
import matplotlib.pyplot as plt
import time
if __name__ == "__main__":
rb = rob1a.Rob1A()
rb.log_file_on()
# loop to get 100 measurements of front sonar
n = 100
ts = np.zeros(n)
loop_time = 0.100 # 100 ms (or 10 Hz)
for i in range(n):
t0 = time.time()
# write here the code to put the distance measured
# by the front sonar in ts[i]
# ...
ts[i] = rb.get_sonar("front")
print(i, ts[i]) # show the measured distance
t1 = time.time()
dt = loop_time - (t1 - t0)
if dt > 0:
time.sleep(dt)
else:
print("overtime !!")
rb.stop()
rb.log_file_off()
rb.full_end()
# compute the mean value of the 100 measurements
import rob1a_v01 as rob1a # get robot simulator
import robot_control # get robot control functions
import numpy as np
import time
if __name__ == "__main__":
rb = rob1a.Rob1A() # create a robot (instance of Rob1A class)
ctrl = robot_control.RobotControl() # create a robot controller
rb.log_file_on() # start log
# angle = 90.0
ctrl.goLineOdometer(rb, dist=0.25, speed=50)
ctrl.inPlaceTurnRight(rb, 90.0)
ctrl.goLineOdometer(rb, dist=0.25, speed=50)
ctrl.inPlaceTurnLeft(rb, 90.0)
ctrl.goLineOdometer(rb, dist=0.72, speed=50)
ctrl.inPlaceTurnRight(rb, 100.0)
ctrl.goLineOdometer(rb, dist=0.75, speed=50)
ctrl.inPlaceTurnRight(rb, 90.0)
ctrl.followWallsLeft(rb)
ctrl.inPlaceTurnRight(rb, 95.0)
ctrl.goLineOdometer(rb, dist=0.25, speed=50)
ctrl.followWallsRight(rb)
