shankar-saradha / mobilerobot-openloopcontrol

MobileRobot-Openloopcontrol

Aim:

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

Equipments Required:

1. RoboMaster EP core
2. Python 3.7

Procedure

Step1: Design the pattern to move the mobile robot.

Step2: Check your pattern for any errors in it

Step3: After checking for errors start programing

Step4: Place the mobile robot in starting postion

Step5: Run the program

Program

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_camera = ep_robot.camera
    '''
    x = x-axis movement distance,( meters) [-5,5]
    y = y-axis movement distance,( meters) [-5,5]
    z = rotation about z axis ( degree)[-180,180]
    xy_speed = xy axis movement speed,( unit meter/second) [0.5,2]
    '''
    print("Camera streaming started...")
    ep_camera.start_video_stream(display=True, resolution=camera.STREAM_360P) 


    ep_chassis.move(x=1, y=0, z=0, xy_speed=0.75).wait_for_completed()
    ep_chassis.move(x=0, y=0, z=90, xy_speed=0.75).wait_for_completed()
    ep_chassis.move(x=1, y=0 ,z=0, xy_speed=0.75).wait_for_completed()
    ep_chassis.move(x=0, y=0 ,z=90, xy_speed=0.75).wait_for_completed()
    ep_chassis.move(x=0.5, y=0 ,z=0, xy_speed=0.75).wait_for_completed()
    ep_chassis.drive_speed(x=0.2,y=0,z=15)
    time.sleep(14)
    ep_camera.stop_video_stream()
    print("Stopped video streaming...")
    ep_robot.close()


    
    ep_robot.close()

MobileRobot Movement Image:

Insert image here

MobileRobot Movement Video:

(https://www.youtube.com/watch?v=BwoM7Sri-BE)

Result:

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

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