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This commit is contained in:
Max 2021-09-29 09:20:57 +01:00
parent 0b4567b78b
commit 3c196b3958
5 changed files with 17 additions and 7 deletions
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10
Control/Jetson/gps_recorder.py
View File

@ -31,3 +31,13 @@ if __name__ == "__main__":
gps_file.close() gps_file.close()
exit(0) exit(0)
i = o = e = None i = o = e = None
{"lat": 51.5136859, "lon": -1.9877412},
{"lat": 51.5136561, "lon": -1.9877741},
{"lat": 51.5135884, "lon": -1.9878123},
{"lat": 51.5135033, "lon": -1.9878121},
{"lat": 51.5134414, "lon": -1.9877873},
{"lat": 51.5133871, "lon": -1.9877211},
{"lat": 51.5133487, "lon": -1.9876391},
{"lat": 51.5133224, "lon": -1.9875018}

8
Control/Pi/PCU_status_server/public/index.html
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@ -44,13 +44,13 @@
<script> <script>
var initCoords = { var initCoords = {
lat: 52.216531, lat: 51.513318,
lon: -2.22221 lon: -1.987528
//GPS: LAT: 52.2165315 LON: -2.2222162 = Worcester //GPS: LAT: 52.2165315 LON: -2.2222162 = Worcester
} //change this to relevant starting place } //change this to relevant starting place
var map = new google.maps.Map(document.getElementById('map'), { var map = new google.maps.Map(document.getElementById('map'), {
zoom: 18, zoom: 17,
tilt: 0, tilt: 0,
center: new google.maps.LatLng(initCoords.lat, initCoords.lon), center: new google.maps.LatLng(initCoords.lat, initCoords.lon),
mapTypeId: google.maps.MapTypeId.SATELLITE mapTypeId: google.maps.MapTypeId.SATELLITE
@ -238,4 +238,4 @@
}, 500); }, 500);
</script> </script>
</html> </html>

2
Control/Pi/dronekit_class.py
View File

@ -62,7 +62,7 @@ class DroneInterface:
self.log.info("Connected to ardurover") self.log.info("Connected to ardurover")
self.pallet_proximity_sensor = PalletProximity() self.pallet_proximity_sensor = PalletProximity()
self.pallet_min_distance = 22 # TODO: calibrate this self.pallet_min_distance = 22 # TODO: calibrate this
self.pallet_max_distance = 55 # TODO: calibrate this self.pallet_max_distance = 110 # TODO: calibrate this
self.log.info("Connected to pallet proximity sensor") self.log.info("Connected to pallet proximity sensor")
self.print_status() self.print_status()

2
Control/Pi/previous_mag_cal
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@ -1 +1 @@
-17.25;18.95;-43.8;-13.95;-0.75;28.875 -22.8;17.25;-41.85;-7.65;2.7750000000000004;24.75

2
Control/Pi/proximity_detector.py
View File

@ -102,7 +102,7 @@ class Proximity:
self.log.warning(f"Detected distance {dist} on sensor {sensor+1} ({'front' if front_detect else 'rear'}), it is below {self.limit_cm}") self.log.warning(f"Detected distance {dist} on sensor {sensor+1} ({'front' if front_detect else 'rear'}), it is below {self.limit_cm}")
self.proximity_stopped = True self.proximity_stopped = True
_, prev_state = self.state_machine.get_state() _, prev_state = self.state_machine.get_state()
if prev_state == "NAVIGATING_TO_POINT_VISION" and front_detect: if prev_state in ["NAVIGATING_TO_POINT_VISION", "MANIPULATING_CARGO"] and front_detect:
self.log.warning("Because we are in vision navigation, we are not stopping as this is likely caused by the pallet") self.log.warning("Because we are in vision navigation, we are not stopping as this is likely caused by the pallet")
else: else:
self.log.warning(f"Stopping!") self.log.warning(f"Stopping!")