Assignment code for Georgia Tech CS 3630, 2014
Add corner identification; need only motion plan now
+895
Assignment 6/working code 4-15/img-end.jpg
Assignment 6/working code 4-15/img-end.jpg
This is a binary file and will not be displayed.
Assignment 6/working code 4-15/img-start.jpg
Assignment 6/working code 4-15/img-start.jpg
This is a binary file and will not be displayed.
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Assignment 6/working code 4-15/logDataServo.py
+69
Assignment 6/working code 4-15/logDataServo.py
···
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import time
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import os.path
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import System
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from Myro import *
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# Run commands to move the robot
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def runCommands(log, commands):
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for c in commands:
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start = time.time()
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motors(c[0],c[1])
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while (time.time() - start < c[2]):
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logNow(log, c[0],c[1],0);
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time.sleep(0.1) # Read sensors at 1Hz
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def takePhoto():
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pic_fname = "pic-%d.jpg" % time.time()
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print('\tTaking picture:', pic_fname)
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picture = takePicture();
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print('\tPicture taken!')
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logNow(log, 0,0,pic_fname);
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print('\tSaving picture...')
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savePicture(picture, pic_fname)
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print('\tPicture saved!')
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# Run commands followed by taking picture
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def runCommand(log, cmd):
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# Move the robot
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commands = [];
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commands.append(cmd);
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commands.append([0,0,0.1]);
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runCommands(log,commands);
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# Log motor commands
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def logNow(log, l, r, fname):
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log.write("%s %s %s\n" %(l, r, fname))
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# write to output log
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fname = "motion_log.txt"
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if os.path.exists(fname):
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log = open(fname, 'a')
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else:
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log = open(fname, 'w')
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# read from command log
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cmdFile = open('motion_plan.txt', 'r')
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commands = cmdFile.readlines()
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cmdFile.close()
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# setup robot
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print('Connecting to Scribbler...')
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init("COM8")
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setIRPower(140)
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setForwardness(1)
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print('Starting motion plan...')
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for command in commands:
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cmd = command.split()
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roboCmd = [float(cmd[0]), float(cmd[1]), float(cmd[2])]
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print('Running command:', roboCmd)
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runCommand(log, roboCmd)
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print('Motion plan complete.')
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takePhoto()
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log.close();
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print('Script finished!')
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System.Environment.Exit(0)
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Assignment 6/working code 4-15/motion_log.txt
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Assignment 6/working code 4-15/motion_log.txt
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+53
Assignment 6/working code 4-15/visualservo.m
+53
Assignment 6/working code 4-15/visualservo.m
···
1
+
2
+
% get target image position
3
+
targetImageName = 'img-end.jpg';
4
+
targetImage = imread(targetImageName);
5
+
6
+
% get list of existing images
7
+
images = dir('*.jpg')
8
+
imageNames = cell(size(images, 1), 1);
9
+
for i = 1 : size(images, 1)
10
+
imageNames{i} = images(i).name;
11
+
end
12
+
13
+
newImage = imread('img-start.jpg');
14
+
15
+
testCriterion = 0;
16
+
while testCriterion < 3
17
+
% process current image
18
+
cornersC = icorner(newImage, 'nfeat', 4, 'color');
19
+
20
+
% debug - display image and corners
21
+
idisp(newImage);
22
+
cornersC.plot();
23
+
24
+
% construct motion plan
25
+
motionPlanSize = 1;
26
+
motionPlan = zeros(motionPlanSize, 3);
27
+
%CREATE MOTION PLAN HERE
28
+
motionPlan = [motionPlan; [1 1 1]];
29
+
motionPlan = [motionPlan; [0 0 1]];
30
+
31
+
% write motion plan to text
32
+
dlmwrite('motion_plan.txt', motionPlan, ' ');
33
+
34
+
% call python script to move robot and take picture
35
+
system('calico.bat --exec logDataServo.py');
36
+
disp 'Python done, returning to Matlab.'
37
+
38
+
% get new list of images
39
+
images = dir('*.jpg');
40
+
newImageNames = cell(size(images, 1), 1);
41
+
for i = 1 : size(images, 1)
42
+
newImageNames{i} = images(i).name;
43
+
end
44
+
45
+
% find the new image
46
+
new = ismember(newImageNames, imageNames);
47
+
newImageName = newImageNames(~new);
48
+
49
+
newImage = imread(newImageName{1});
50
+
imageNames = newImageNames;
51
+
52
+
testCriterion = testCriterion + 1;
53
+
end