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jblitzar
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github-python

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# estimated odometry, thr is theta in radians...
# these are updated by integrateNextOdometricStep
self.xPose = 0.0
self.yPose = 0.0
self.thrPose = 0.0
self.leftEncoder = -1
self.rightEncoder = -1
self.leftEncoder_old = -1
self.rightEncoder_old = -1
time.sleep(0.3)
self._start() # go to passive mode - want to do this
# regardless of the final mode we'd like to be in...
time.sleep(0.3)
if (startingMode == SAFE_MODE):
print 'Putting the robot into safe mode...'
self.toSafeMode()
if (startingMode == FULL_MODE):
print 'Putting the robot into full mode...'
self.toSafeMode()
time.sleep(0.3)
self.toFullMode()
# We need to read the angle and distance sensors so that
# their values clear out!
time.sleep(0.25)
#self.sensors(6) # read all sensors to establish the sensord dictionary
self.setPose(0,0,0)
_debug = False
def _write(self, byte):
if self._debug==True:
print ord(byte)
self.ser.write(byte)
def getPose(self, dist='cm', angle='deg'):
""" getPose returns the current estimate of the
robot's global pose
dist may be 'cm' or 'mm'
angle may be 'deg' or 'rad'
"""
x = 0; y = 0; th = 0
if dist == 'cm':
x = self.xPose/10.0; y = self.yPose/10.0
else:
x = self.xPose; y = self.yPose
if angle == 'deg':
th = math.degrees(self.thrPose)
else:
th = self.thrPose
return (x,y,th)
def setPose(self, x, y, th, dist='cm', angle='deg'):
""" setPose sets the internal odometry to the input values
x: global x in mm
y: global y in mm
th: global th in radians
dist: 'cm' or 'mm' for x and y
angle: 'deg' or 'rad' for th
"""
if dist == 'cm':
self.xPose = x*10.0; self.yPose = y*10.0
else:
self.xPose = x; self.yPose = y
if angle == 'deg':
self.thrPose = math.radians(th)
else:
self.thrPose = th
def resetPose(self):
""" resetPose simply sets the internal odometry to 0,0,0
"""
self.setPose(0.0,0.0,0.0)
def _getEncoderDelta(self, oldEnc, newEnc):
#encoder wrap around at 2^16
#check if the step is bigger than half the
#possible range and treat this as wraparound
delta = newEnc-oldEnc
if delta< -65536/2:
delta = (newEnc+65536)-oldEnc
if delta> 65536/2:
delta = newEnc-(oldEnc+65536)
return delta
def _integrateNextEncoderStep(self):
if self.leftEncoder_old == -1:
self.leftEncoder_old = self.leftEncoder
self.rightEncoder_old = self.rightEncoder
return
left_diff = self._getEncoderDelta(self.leftEncoder_old,self.leftEncoder)
right_diff = self._getEncoderDelta(self.rightEncoder_old,self.rightEncoder)