Assignment code for Georgia Tech CS 3630, 2014
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Add corner identification; need only motion plan now

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Assignment 6/working code 4-15/img-end.jpg

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Assignment 6/working code 4-15/img-start.jpg

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Assignment 6/working code 4-15/logDataServo.py
··· 1 + import time 2 + import os.path 3 + import System 4 + from Myro import * 5 + 6 + # Run commands to move the robot 7 + def runCommands(log, commands): 8 + for c in commands: 9 + start = time.time() 10 + motors(c[0],c[1]) 11 + while (time.time() - start < c[2]): 12 + logNow(log, c[0],c[1],0); 13 + time.sleep(0.1) # Read sensors at 1Hz 14 + 15 + def takePhoto(): 16 + pic_fname = "pic-%d.jpg" % time.time() 17 + print('\tTaking picture:', pic_fname) 18 + picture = takePicture(); 19 + print('\tPicture taken!') 20 + logNow(log, 0,0,pic_fname); 21 + print('\tSaving picture...') 22 + savePicture(picture, pic_fname) 23 + print('\tPicture saved!') 24 + 25 + # Run commands followed by taking picture 26 + def runCommand(log, cmd): 27 + 28 + # Move the robot 29 + commands = []; 30 + commands.append(cmd); 31 + commands.append([0,0,0.1]); 32 + runCommands(log,commands); 33 + 34 + # Log motor commands 35 + def logNow(log, l, r, fname): 36 + log.write("%s %s %s\n" %(l, r, fname)) 37 + 38 + # write to output log 39 + fname = "motion_log.txt" 40 + if os.path.exists(fname): 41 + log = open(fname, 'a') 42 + else: 43 + log = open(fname, 'w') 44 + 45 + # read from command log 46 + cmdFile = open('motion_plan.txt', 'r') 47 + commands = cmdFile.readlines() 48 + cmdFile.close() 49 + 50 + # setup robot 51 + print('Connecting to Scribbler...') 52 + init("COM8") 53 + setIRPower(140) 54 + setForwardness(1) 55 + 56 + print('Starting motion plan...') 57 + for command in commands: 58 + cmd = command.split() 59 + roboCmd = [float(cmd[0]), float(cmd[1]), float(cmd[2])] 60 + print('Running command:', roboCmd) 61 + runCommand(log, roboCmd) 62 + print('Motion plan complete.') 63 + takePhoto() 64 + 65 + log.close(); 66 + 67 + print('Script finished!') 68 + 69 + 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_plan.txt
··· 1 + 0 0 0 2 + 1 1 1 3 + 0 0 1
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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