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draw_square.py
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import brickpi
import time
import sys
import random
import math
import numpy
interface=brickpi.Interface()
interface.initialize()
motors = [1,2]
interface.motorEnable(motors[0])
interface.motorEnable(motors[1])
leftParam = interface.MotorAngleControllerParameters()
rightParam = 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
interface.setMotorAngleControllerParameters(motors[0],leftParam)
interface.setMotorAngleControllerParameters(motors[1],rightParam)
rotation_angle = 3.3
drive_angle = 11.85
drive_angle_10 = 2.92
def forward(interface):
interface.increaseMotorAngleReferences(motors, [drive_angle, drive_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
#if motorAngles :
# print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
time.sleep(0.1)
def forward_10(interface):
interface.increaseMotorAngleReferences(motors, [drive_angle_10, drive_angle_10])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
#if motorAngles :
# print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
time.sleep(0.1)
def backward(interface):
interface.increaseMotorAngleReferences(motors, [-drive_angle, -drive_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
if motorAngles :
print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
time.sleep(0.1)
def backward_10(interface):
interface.increaseMotorAngleReferences(motors, [-drive_angle_10, -drive_angle_10])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
if motorAngles :
print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
time.sleep(0.1)
def right90deg(interface):
interface.increaseMotorAngleReferences(motors, [-rotation_angle, rotation_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
#if motorAngles :
# print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
time.sleep(0.1)
def left90deg(interface):
interface.increaseMotorAngleReferences(motors, [rotation_angle, -rotation_angle])
while not interface.motorAngleReferencesReached(motors):
motorAngles = interface.getMotorAngles(motors)
if motorAngles :
print "Motor angles: ", motorAngles[0][0], ", ", motorAngles[1][0]
time.sleep(0.1)
def draw_square(interface):
forward(interface)
right90deg(interface)
forward(interface)
right90deg(interface)
forward(interface)
right90deg(interface)
forward(interface)
right90deg(interface)
def draw_square_10(interface):
forward_10(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
right90deg(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
right90deg(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
right90deg(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
forward_10(interface)
right90deg(interface)
initX = 200
initY = 120
initTheta = 0
distance10 = 500/4
rotate90 = 90
eSigma = 500 * 0.0075
fSigma = 0.4
gSigma = 0.8
def getNewX(point):
return point[0] + (distance10 + random.gauss(0, eSigma)) * math.cos(math.radians(point[2]))
def getNewY(point):
return point[1] + (distance10 + random.gauss(0, eSigma)) * math.sin(math.radians(point[2]))
def getNewThetaStraight(point):
return point[2] + random.gauss(0, fSigma)
def getNewThetaRotate(point):
return point[2] + rotate90 + random.gauss(0, gSigma)
# draws the square
line1 = (200, 120, 700, 120) # (x0, y0, x1, y1)
line2 = (700, 120, 700, 620) # (x0, y0, x1, y1)
line3 = (700, 620, 200, 620) # (x0, y0, x1, y1)
line4 = (200, 620, 200, 120) # (x0, y0, x1, y1)
print "drawLine:" + str(line1)
print "drawLine:" + str(line2)
print "drawLine:" + str(line3)
print "drawLine:" + str(line4)
numberOfParticles = 100
def draw_square_plot(interface):
particles = [(initX, initY, initTheta) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
right90deg(interface)
particles = [(particles[i][0], particles[i][1], getNewThetaRotate(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
right90deg(interface)
particles = [(particles[i][0], particles[i][1], getNewThetaRotate(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
right90deg(interface)
particles = [(particles[i][0], particles[i][1], getNewThetaRotate(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
forward_10(interface)
particles = [(getNewX(particles[i]), getNewY(particles[i]), getNewThetaStraight(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
time.sleep(0.1)
right90deg(interface)
particles = [(particles[i][0], particles[i][1], getNewThetaRotate(particles[i])) for i in range(numberOfParticles)]
print "drawParticles:" + str(particles)
numpy_arr = numpy.array([particle[0] for particle in particles])
print(numpy.std(numpy_arr))
time.sleep(0.1)
draw_square_plot(interface)
interface.terminate()