#device = '/dev/tty.usbmodem1'
# Windows address
#device = 'COM3'
target_heading = 80 # random choice - will be changed after calibrating in pool
target_depth = 0.3 # not too deep for a tank test
forward_speed = 10 # not too fast for a tank test
side_speed = 10 # not too fast of a value
heading_time = 10 # max heading task time, seconds
depth_time = 10 # max depth task time, seconds
drive_time = 10 # max drive task time, seconds
total_time = 10
# setup devices
pn = PixhawkNode(device)
# uncomment to test the zed camera
# zn = ZedNode(device)
# create dictionary of nodes needed for this task
node_dict = {'pn': pn}
# uncomment to test the zed camera
# node_dict = {'pn':pn, 'zn':zn}
runnum = episode()
# try loop is used to ensure that communication with pixhawk is
# terminated.
try:
# startup data stream
from time import time
import numpy as np
import matplotlib.pyplot as plt
from serial import SerialException
from zoidberg import PixhawkNode, pause, episode
update_period = 0.05
# Mac OSX address
device = '/dev/tty.usbmodem1'
# Linux address
#device = '/dev/ttyACM0'
# Windows address
#device = 'COM3'
runnum = episode()
pn = PixhawkNode(device)
pn.isactive(True)
# try loop is used to ensure that communication with pixhawk is
# terminated.
try:
# startup data stream
pn.isactive(True)
# change mode
pn.change_mode('MANUAL')
motor_out = []
readtime = []
total_time = 3 # total collection time, seconds
run_start = time()
loop_start = run_start
from zoidberg import PixhawkNode, pause
from serial import SerialException
from time import time
update_period = 0.05
# Mac OSX address of pixhawk
#device = '/dev/tty.usbmodem1'
device = '/dev/ttyACM0'
pn = PixhawkNode(device)
# try loop is used to ensure that communication with pixhawk is
# terminated.
try:
# startup data stream
pn.isactive(True)
while True:
loop_start = time()
pn.check_readings()
print("Current heading: %.2f" % pn.heading)
# sleep to maintain constant rate
pause(loop_start, update_period)
except SerialException:
print('Pixhawk is not connected to %s' % device)
finally:
print('Shutting down communication with Pixhawk')
pn.isactive(False)
from time import time
import numpy as np
import matplotlib.pyplot as plt
from serial import SerialException
from zoidberg import PixhawkNode, pause, episode, actionperiod, main_loop, \
constant_r_task, constant_r_success
# Linux address
device = '/dev/ttyACM0'
# Mac OSX address
#device = '/dev/tty.usbmodem1'
# Windows address
#device = 'COM3'
runnum = episode()
pn = PixhawkNode(device)
total_time = 30 # total task time, seconds
target_heading = 80 # random choice
r_P = 3 # proportionality constant for heading correction
r_max = 70 # max rate of turn
r_tol = 5 # if we are within this number of degrees, we have succeeded
# create dictionary of nodes needed for this task
node_dict = {'pn': pn}
# try loop is used to ensure that communication with pixhawk is
# terminated.
try:
# startup data stream
pn.isactive(True)