MobileRobot-Openloopcontrol

Aim:

To develop a python control code to move the mobilerobot along the predefined path.

Equipments Required:

RoboMaster EP core
Python 3.7

Procedure

Step1:

Use from robomaster import robot

Step2:

Choose the x,y,z - axis movement distance(meters).

Step3:

Give ep_chassis.move to move straight.

Step4:

Give time.sleep() for a break.

Step5:

Give ep_chassis.drive_speed to have a circular movement.

Program

from robomaster import robot
import time

if __name__ == '__main__':
    ep_robot = robot.Robot()
    ep_robot.initialize(conn_type="ap")

    ep_chassis = ep_robot.chassis

    from robomaster import robot
import time

if _name_ == '_main_':
    ep_robot = robot.Robot()
    ep_robot.initialize(conn_type="ap")

    ep_chassis = ep_robot.chassis
    
from robomaster import robot
import time
from robomaster import camera

if _name_ == '_main_':
    ep_robot = robot.Robot()
    ep_robot.initialize(conn_type="ap")

    ep_chassis = ep_robot.chassis
    ep_led = ep_robot.led
    ep_camera = ep_robot.camera

    print("Video streaming started.....")
    ep_camera.start_video_stream(display=True, resolution = camera.STREAM_360P)

    ep_led.set_led(comp = "all",r=0,g=0,b=255,effect="on")

    ep_chassis.move(x=2.4, y=0, z=0, xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=0,g=255,b=0,effect="on")

    ep_chassis.move(x=0.5, y=0, z=80,xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=255,g=0,b=0,effect="on")

    ep_chassis.move(x=1, y=0, z=0, xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=255,g=215,b=0,effect="on")

    ep_chassis.move(x=0, y=-1.5, z=0, xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=255,g=215,b=0,effect="on")

    ep_led.set_led(comp = "all",r=128,g=0,b=128,effect="on")
    ep_chassis.move(x=0, y=0, z=55, xy_speed=1.3).wait_for_completed()

    ep_chassis.move(x=1.4, y=0, z=0, xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=255,g=102,b=0,effect="on")

    ep_chassis.move(x=0, y=0, z=45).wait_for_completed()
    ep_led.set_led(comp = "all",r=128,g=0,b=0,effect="on")

    ep_chassis.move(x=1.5, y=0, z=0,xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=51,g=153,b=102,effect="on")

    ep_chassis.move(x=0, y=0, z=95).wait_for_completed()
    ep_led.set_led(comp = "all",r=255,g=0,b=255,effect="on")

    ep_chassis.move(x=2, y=0, z=0,xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=0,g=204,b=255,effect="on")

    ep_chassis.move(x=0, y=0, z=85).wait_for_completed()
    ep_led.set_led(comp = "all",r=255,g=128,b=128,effect="on")

    ep_chassis.move(x=0.5, y=0, z=0,xy_speed=1.3).wait_for_completed()
    ep_led.set_led(comp = "all",r=0,g=0,b=128,effect="on")

    time.sleep(4)
    ep_camera.stop_video_stream()
    print("Stopped video streaming.....")

    ep_robot.close()



    
    ep_robot.close()



    
    ep_robot.close()

MobileRobot Movement Image:

Insert image here

MobileRobot Movement Video:

Upload your video in Youtube and paste your video-id here

https://youtu.be/hTJPyo9ALVQ

Result:

Thus the python program code is developed to move the mobilerobot in the predefined path.

Mobile Robotics Laboratory
Department of Artificial Intelligence and Machine Learning
Saveetha Engineering College

23008112 / mobilerobot-openloopcontrol