from romipi_astar.romipi_driver import AStar import time romi = AStar() linear_ms = 0.0 rotate_rads = 0.0 def update_twist(): """send twist to driver and change light color if moving""" if linear_ms == 0.0 and rotate_rads == 0.0: romi.pixels(0, 0, 100) else: romi.pixels(0, 100, 0) romi.twist(linear_ms, rotate_rads) # all set up, now run the robot t_end = time.time() + 900 t_end1 = time.time() + 1 while True: linear_ms = 0 rotate_rads = .2 update_twist() if t_end1 < time.time(): break # stop motors and shut down light romi.twist(0.0, 0.0) romi.pixels(0, 0, 0)
#!/usr/bin/python2 # # Move the robot forwards and backwards from romipi_astar.romipi_driver import AStar import time romi = AStar() distance = 10.0 runtime = 15.0 romi.twist(2 * 3.14 * distance / runtime, 2 * 3.14 / runtime) time.sleep(runtime) romi.twist(0.0, 0.0) print("all done.")
print(args) romi = AStar() def monitor_pose(): monitor_freq_hz = 2.0 # move forward for two seconds i = 0 while True: print("{:} : poses ->" " motor m/s {:}" " twist_tuple {:}".format(i / monitor_freq_hz, romi.read_pose_motors(), romi.read_pose_twist())) # print motor_speeds for two seconds i = i + 1 time.sleep(1.0 / monitor_freq_hz) romi.twist(args.twist_linear, args.twist_angular) if args.twist_linear == 0.0 and args.twist_angular == 0.0: romi.pixels(0, 0, 255) else: romi.pixels(0, 255, 0) time.sleep(args.time) romi.twist(0.0, 0.0) print("all done.")
def monitor_pose(duration_s): monitor_freq_hz = 2.0 # move forward for two seconds for i in range(0, int(duration_s*monitor_freq_hz)): print("{:} twist {:}" " motor speed m/s {:}" " pose_twist {:}".format( i / monitor_freq_hz, romi.read_twist(), romi.read_pose_motors(), romi.read_pose_twist())) # print motor_speeds for two seconds time.sleep(1.0/monitor_freq_hz) print("initializing...") romi.pixels(0,0,255) print("moving forwards...") # twist format is forward vector, rotation vector romi.twist(forward_speed_m_s, stop_speed_m_s) romi.pixels(0,255,0) # move forward for two seconds monitor_pose(2.0) print("stopping.") romi.twist(stop_speed_m_s, stop_speed_m_s) romi.pixels(0,0,255) monitor_pose(10.0)
# Move the robot forwards and backwards from romipi_astar.romipi_driver import AStar import time motor_delay_s = 5.0 forward_speed_m_s = 0.25 stop_speed_m_s = 1.25 romi = AStar() # int main() # turn off all LEDs romi.leds(False, False, False) romi.pixels(0, 0, 0) print("Displaying Circle Code") var = input("Press s/S to stop and any key to continue: ") #input while var != "s" and var != "S": currentTime = time.time() nextTime = currentTime + motor_delay_s while currentTime < nextTime: #loops for prev time delay romi.twist(forward_speed_m_s, stop_speed_m_s) # makes a circle currentTime = time.time() romi.twist(0.0, 0.0) # stop var = input("Press s/S to stop and any key to continue: ") #input
#!/usr/bin/python2 # # Move the robot forwards and backwards from romipi_astar.romipi_driver import AStar import time romi = AStar() distance = 15 sides = 4 for j in range(sides): for i in range(distance): romi.twist(distance, 0.0) time.sleep(1.0) romi.twist(0.0, 3.14 / 2) time.sleep(1.0) romi.twist(0.0, 0.0) print("all done.")
motor_delay_s = 2.2 forward_speed_m_s = 0.25 stop_speed_m_s = 0.0 romi = AStar() # int main() # turn off all LEDs romi.leds(False, False, False) romi.pixels(0, 0, 0) print("Displaying Square Code") var = input("Press s/S to stop and any key to continue: ") #input while var != "s" and var != "S": # twist format is forward vector, rotation vector # moves in square for i in range(4): currentTime = time.time() nextTime = currentTime + motor_delay_s # next time while currentTime < nextTime: # loops for prev time romi.twist(forward_speed_m_s, stop_speed_m_s) #go forward currentTime = time.time() romi.twist(stop_speed_m_s, stop_speed_m_s) # stop currentTime = time.time() nextTime = currentTime + (motor_delay_s / 2.0) while currentTime < nextTime: # loops for prev time romi.twist(stop_speed_m_s, 3.14159265358979323846 / 2) #turns currentTime = time.time() romi.twist(stop_speed_m_s, stop_speed_m_s) # stop var = input("Press s/S to stop and any key to continue: ") #input
#!/usr/bin/python2 # # Move the robot forwards and backwards from romipi_astar.romipi_driver import AStar import time romi = AStar() linear_ms = 0.1 rotate_rads = 0.5 count = 0 finalCount = 48000 print("initializing...") #romi.pixels(0,0,255) print("begin circle...") while(True): romi.twist(linear_ms,rotate_rads) count += 1 if (count == finalCount): break