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sweep2.py
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import brickpi
import time
import sys
import random
import math
import numpy as np
# interface=brickpi.Interface()
# interface.initialize()
#
motors = [1,2,0]
#
# interface.motorEnable(motors[0])
# interface.motorEnable(motors[1])
# interface.motorEnable(motors[2])
#
# leftParam = interface.MotorAngleControllerParameters()
# rightParam = interface.MotorAngleControllerParameters()
# sonarParam = interface.MotorAngleControllerParameters()
#
# leftParam.maxRotationAcceleration = 6.0
# leftParam.maxRotationSpeed = 12.0
# leftParam.feedForwardGain = 255/20.0
# leftParam.minPWM = 18.0
# leftParam.pidParameters.minOutput = -255
# leftParam.pidParameters.maxOutput = 255
# leftParam.pidParameters.k_p = 462.0
# leftParam.pidParameters.k_i = 870.0
# leftParam.pidParameters.K_d = 25.0
#
# rightParam.maxRotationAcceleration = 6.0
# rightParam.maxRotationSpeed = 12.0
# rightParam.feedForwardGain = 255/20.0
# rightParam.minPWM = 18.0
# rightParam.pidParameters.minOutput = -255
# rightParam.pidParameters.maxOutput = 255
# rightParam.pidParameters.k_p = 462.0
# rightParam.pidParameters.k_i = 800.0
# rightParam.pidParameters.K_d = 23.0
#
# sonarParam.maxRotationAcceleration = 6.0
# sonarParam.maxRotationSpeed = 12.0
# sonarParam.feedForwardGain = 255/20.0
# sonarParam.minPWM = 18.0
# sonarParam.pidParameters.minOutput = -255
# sonarParam.pidParameters.maxOutput = 255
# sonarParam.pidParameters.k_p = 462.0
# sonarParam.pidParameters.k_i = 800.0
# sonarParam.pidParameters.K_d = 23.0
#
# interface.setMotorAngleControllerParameters(motors[0],leftParam)
# interface.setMotorAngleControllerParameters(motors[1],rightParam)
# interface.setMotorAngleControllerParameters(motors[2],sonarParam)
#
#
port = 0 # port which ultrasoic sensor is plugged in to
#
# interface.sensorEnable(port, brickpi.SensorType.SENSOR_ULTRASONIC)
#initX = 0
#initY = 0
#initA = 0
initX = 84
initY = 30
initA = 0
rotation_angle = 2.12
drive_angle = 0.28
drive_angle_10 = 2.92
numberOfParticles = 100
# walls = [((0,0), (0,168)), ((0,168), (84, 168)), ((84, 168), (84, 126)), ((84, 126), (84, 210)), ((84, 210), (168, 210)), ((168, 210), (168, 84)), ((168, 84), (210, 84)), ((210, 84), (210, 0)), ((210, 0), (0, 0))]
#
# for wall in walls:
# print "drawLine:" + str(( 50 + wall[0][0] * 3,50 + wall[0][1] * 3, 50 +wall[1][0] * 3, 50 +wall[1][1] * 3))
######## sweep #########
robotMeanX, robotMeanY, robotMeanA = 84, 30, 0 #initial position
def sweep(interface):
global robotMeanX, robotMeanY, robotMeanA
robotSonarReadings=[]
for i in range(72):
# 0.087
rotate(0.0415, interface)
robotSonarReadings.append(readSonarSensor(interface))
for i in range(len(robotSonarReadings)):
print str(robotSonarReadings[i])
# interface.terminate()
return robotSonarReadings
#for other group here use this array to compare with points using formula on lecture slides
#take highest variance and that is the correct x and y
#do a for loop to find what shift to apply to our readings gets highest accuracy on the estimated point
#using new x y and angle estimate print lines at point
def readSonarSensor(interface):
readings = []
# get the median of 5 readings
for i in range(0,5):
readings.append(interface.getSensorValue(port)[0])
return np.median(readings)
# rotate robot and update particles
def rotate(angle, interface):
if angle > math.pi:
angle = angle - 2 * math.pi
if angle < -math.pi:
angle = angle + 2 * math.pi
#print("angle:"+str(angle/math.pi*180))
rot_angle = angle*rotation_angle
interface.increaseMotorAngleReferences(motors, [0, 0, rot_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
# if motorAngles :
# print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
#starting point: (84, 30)
#navigateToWayPointInput(interface)