File size: 1,903 Bytes
b98ffbb |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 |
from robomaster import robot, led
from dora import Node
from time import sleep
import numpy as np
import pyarrow as pa
CONN = "ap"
ep_robot = robot.Robot()
print("Initializing robot...", flush=True)
assert ep_robot.initialize(conn_type=CONN), "Could not initialize ep_robot"
assert ep_robot.camera.start_video_stream(display=False), "Could not start video stream"
node = Node()
ep_robot.gimbal.recenter().wait_for_completed()
backlog = []
last_control = ""
position = np.array([0.0, 0.0, 0.0])
count = -1
event = None
rgb = [0, 0, 0]
def wait(event):
if event is not None and not (event._event.isSet() and event.is_completed):
sleep(1)
for dora_event in node:
event_type = dora_event["type"]
if event_type == "INPUT":
if dora_event["id"] == "tick":
node.send_output("position", pa.array(position))
node.send_output("control_reply", pa.array([count]))
elif dora_event["id"] == "planning_control":
[x, y, z, xy_speed, z_speed, pitch, yaw, count] = dora_event[
"value"
].to_numpy()
if any([pitch, yaw]):
event = ep_robot.gimbal.moveto(
pitch=pitch, yaw=yaw, pitch_speed=60.0, yaw_speed=50.0
)
wait(event)
sleep(2)
if any([x, y, z]):
event = ep_robot.chassis.move(
x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
)
position = position + np.array([x, y, z])
wait(event)
sleep(6)
elif dora_event["id"] == "led":
[r, g, b] = dora_event["value"].to_numpy()
rgb = [r, g, b]
if rgb != rgb:
ep_robot.led.set_led(
comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON
)
rgb = rgb
|