http://164.73.124.35/inco/proyectos/butia/mediawiki/index.php?action=history&feed=atom&title=Need4Buti%C3%A1 2026-04-06T00:26:44Z Historial de revisiones para esta página en el wiki MediaWiki 1.26.2 http://164.73.124.35/inco/proyectos/butia/mediawiki/index.php?title=Need4Buti%C3%A1&diff=2854&oldid=prev 2012-08-09T14:58:18Z

<p>Página creada con &#039;#butiaRemoto import butiaAPI import time import struct import math from numpy import linalg from numpy import matlib #def getXY(in_file_f): # x = 0 # y = 0 # z = 0 #...&#039;</p> <p><b>Página nueva</b></p><div>#butiaRemoto<br /> import butiaAPI<br /> import time<br /> import struct<br /> import math<br /> from numpy import linalg<br /> from numpy import matlib<br /> <br /> #def getXY(in_file_f):<br /> # x = 0 <br /> # y = 0<br /> # z = 0<br /> # event = in_file_f.read(16)<br /> # (time1,time2, type, code, value) = \<br /> # struct.unpack(fmt,event)<br /> # time = time2 / 1000.0<br /> # if type == 2 or type == 3:<br /> # if code == 0:<br /> # x = value<br /> # if code == 1:<br /> # y = value<br /> # if code == 2:<br /> # z = value<br /> # if type == 0 and code == 0:<br /> # sum = 0<br /> # return x,y<br /> mor = (0,1,0)<br /> xbase = (1,0,0)<br /> ybase = (0,0,1)<br /> def normal():<br /> xyz = getXYZ()<br /> tam = linalg.norm(xyz)<br /> mor = matlib.matrix(xyz)/tam<br /> print xyz,tam,mor<br /> ybase = matlib.cross(mor,(1,0,0))<br /> ybase /= linalg.norm(ybase)<br /> xbase = matlib.cross(ybase,mor)<br /> xbase /= linalg.norm(xbase)<br /> print mor,linalg.norm(mor)<br /> print xbase,linalg.norm(xbase)<br /> print ybase,linalg.norm(ybase)<br /> print matlib.inner(xbase,ybase),matlib.inner(xbase,mor)<br /> print matlib.inner((1,0,0),ybase),matlib.inner(ybase,mor)<br /> print matlib.inner(mor,xyz),<br /> print matlib.inner(xbase,xyz),<br /> print matlib.inner(ybase,xyz),<br /> print (matlib.inner(mor,xyz)**2 +<br /> matlib.inner(mor,xyz)**2 +<br /> matlib.inner(mor,xyz))**0.5<br /> return (xbase,mor,ybase)<br /> <br /> ACCELEROMETER_DEVICE='/sys/devices/platform/lis3lv02d/position'<br /> <br /> <br /> <br /> def getXYZ():<br /> ''' return accelerometer xyz as a tuple '''<br /> try:<br /> fh.seek(0)<br /> string = fh.read()<br /> xyz = eval(string)<br /> xyz =tuple(map(lambda nuevo: int(nuevo),xyz))<br /> return xyz<br /> except IOError as ioerror:<br /> print ioerror<br /> return (0,0,0)<br /> def getY():<br /> xyz=getXYZ()<br /> return matlib.inner(xyz,ybase)<br /> <br /> def getX():<br /> xyz=getXYZ()<br /> return matlib.inner(xyz,xbase)<br /> <br /> def dir(n):<br /> if (n&gt;0):<br /> return ('1',str(n))<br /> else:<br /> return ('0',str(-n))<br /> def dir2(iz,de):<br /> (sentIz,magIz)=dir(iz)<br /> (sentDe,magDe)=dir(de)<br /> return (str(sentIz),str(magIz),str(sentDe),str(magDe))<br /> <br /> butiabot = butiaAPI.robot('169.254.11.29')<br /> modulos = butiabot.get_modules_list()<br /> print modulos<br /> <br /> #butiabot.abrirSensor()<br /> #butiabot.abrirMotores()<br /> a = 'q' #no hace nada<br /> <br /> <br /> fh = open(ACCELEROMETER_DEVICE,'r')<br /> # Inicializo base en equilibrio<br /> (xbase,mor,ybase)=normal()<br /> time.sleep(1)<br /> ANGULO_MAX = 500<br /> MOTOR_MAX = 1000<br /> #try:<br /> #while True:<br /> # print matlib.inner(mor,getXYZ()),<br /> # print matlib.inner(xbase,getXYZ()),<br /> # print matlib.inner(ybase,getXYZ())<br /> #except:<br /> # pass<br /> <br /> while True:<br /> x1 = getX()[0]<br /> y1 = getY()[0]<br /> print(&quot;x&quot; + str(x1) + &quot;y&quot; + str(y1))<br /> #topeo a la mitad del recorrido<br /> iz = x1+y1<br /> de = -(x1-y1)<br /> if(max(abs(iz),abs(de))&gt;1000):<br /> iz=iz*1000/max(abs(iz),abs(de))<br /> de=de*1000/max(abs(iz),abs(de))<br /> dires=dir2(iz,de)<br /> print dires <br /> butiabot.set2MotorSpeed(*dires) <br /> print v <br /> <br /> fh.close()<br /> <br /> #in_file.close() <br /> print &quot;fin&quot;</div>

Lmichele