本文整理汇总了Python中driver.Driver.followLineG方法的典型用法代码示例。如果您正苦于以下问题：Python Driver.followLineG方法的具体用法？Python Driver.followLineG怎么用？Python Driver.followLineG使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类driver.Driver的用法示例。
在下文中一共展示了Driver.followLineG方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: from driver import Driver [as 别名]
# 或者: from driver.Driver import followLineG [as 别名]
class FieldRobot:
rowWidth = 0.75
rowPotsWidth = 0 #0.45
def __init__( self, robot, configFilename, verbose = False ):
self.robot = robot
self.robot.insideField = True
# self.robot.fnSpeedLimitController = [self.robot.pauseSpeedFn]
self.robot.fnSpeedLimitController = []
self.robot.addExtension( emergencyStopExtension )
# self.robot.attachGPS()
self.robot.attachLaser( remission=True )
self.robot.laser.stopOnExit = False # for faster boot-up
# self.robot.attachCamera( cameraExe = "../robotchallenge/rc" ) # TODO what was used?!
# self.robot.attachCamera( cameraExe = "../robotchallenge/redcone" ) # FRE2015 - task2
self.robot.attachCamera( cameraExe = "../robotchallenge/dark" ) # FRE2015 - task3
self.robot.attachHand()
self.robot.rfidData = None # hack 2013
self.robot.gpsData = None
self.driver = Driver( self.robot, maxSpeed = 0.7, maxAngularSpeed = math.radians(60) )
# self.robot.localisation = KalmanFilter() # needed for better direction handling
self.robot.localisation = SimpleOdometry()
self.verbose = verbose
self.configFilename = configFilename
self.rowHeading = None
def waitForStart( self ):
print "Waiting for start cable insertion ..."
while self.robot.startCableIn is None or not self.robot.startCableIn:
self.robot.setSpeedPxPa( 0.0, 0.0 )
self.robot.update()
print "READY & waiting for start ..."
while self.robot.startCableIn is None or self.robot.startCableIn:
self.robot.setSpeedPxPa( 0.0, 0.0 )
if self.robot.laserData:
self.robot.toDisplay = 'O'
if self.robot.remissionData:
self.robot.toDisplay = 'R'
else:
self.robot.toDisplay = '-'
if self.robot.rfidData:
self.robot.toDisplay += str( self.robot.rfidData[0] % 10 )
else:
self.robot.toDisplay += '-'
self.robot.update()
print "!!! GO !!!"
def ver2( self, code, detectWeeds = True, detectBlockedRow = True ):
print "Field Robot - LASER & CAMERA"
try:
# start GPS sooner to get position fix
# self.robot.gps.start()
self.robot.laser.start()
self.waitForStart()
if not self.robot.switchBlueSelected:
print "RED -> mirroring code directions!!!"
code = [-x for x in code]
print code
if self.robot.compass:
self.rowHeading = compassHeading(self.robot.compass)
self.robot.camera.start()
laserRow = LaserRow( verbose = self.verbose, rowHeading = self.robot.localisation.pose()[2] )
self.robot.addExtension( laserRow.updateExtension )
cameraRow = CameraRow( verbose = self.verbose )
self.robot.addExtension( cameraRow.updateExtension )
angularSpeed = 0.0
self.robot.maxSpeed = 0.2
speed = 0 # wait for first camera image (maybe beep?? if no route to host)
startTime = self.robot.time
row = laserRow
row.reset( offsetDeg=None ) # just for test, try to find the gap (kitchen test)
# row = cameraRow
for action in code:
self.robot.insideFiled = True
print "================= ACTION ", action, "================="
print "battery:", self.robot.battery
while not row.endOfRow:
# sprayer( self.robot, True, True )
for (speed, angularSpeed) in self.driver.followLineG( row.line ):
# print "TEST %.2f" % (math.degrees(normalizeAnglePIPI(row.line.angle - self.robot.localisation.pose()[2])))
if abs(normalizeAnglePIPI(row.line.angle - self.robot.localisation.pose()[2])) > SLOW_DOWN_ANGLE:
speed *= 0.9
if self.robot.laserData:
self.robot.toDisplay = 'OK'
else:
self.robot.toDisplay = '--'
speed, angularSpeed = 0.0, 0.0
# if detectBlockedRow and row.collisionAhead[1] < 0.25:
blockedCamCount = 0
if detectBlockedRow and self.robot.cameraData:
camDat, fileName = self.robot.cameraData
if camDat:
blockedCamCount = int(camDat.split()[0])
if blockedCamCount > RED_ALERT:
print "CAMERA BLOCKED!!", blockedCamCount
#.........这里部分代码省略.........