omnibot.py
Description
This is a python package which allows connection (currently only TCP-based) with the omnibots at the Department of Automatic Control.
Note that this package covers the client side. For information about setting up the omnibot, see (link here).
Installation
On linux:
pip install git+https://gitlab.control.lth.se/processes/omnibot/omnibot.py
Usage
Import the connection-object with from omnibot.tcp import Connection. Use the with Connection(HOST) as bot: command, as this will automatically open and close the connection cleanly. To e.g. set the reference speed for servo 1 to 100, use bot.set_speed(1,100). To set all servo speeds at once, use bot.set_speeds([100,100,100]).
To read positions from the crazyflie, use
x = bot.get_x(),
y = bot.get_y(),
z = bot.get_z(),
theta = bot.get_theta().
Example: Connect to a robot at localhost, make it spin in a circle and read the x and y positions.
from omnibot.tcp import Connection
from time import time, sleep
# Insert suitable IP-adress
HOST = "localhost"
with Connection(HOST) as bot:
# Target speed for servos
vset = 100
# Go one way
while time() < tstart + 3:
t0 = time()
# set speeds
bot.set_speeds([vset,vset,vset])
# print position
print('x:'+bot.get_x())
print('y:'+bot.get_y())
sleep(0.1)Example: A pre-defined script which rotates first one way, then the other, and prints logged angle:
from omnibot_client.Dummybot import run_dummybot
# Insert suitable IP-adress
HOST = "localhost"
run_dummybot(HOST)Support
Contributing
Please feel free to improve this as future projects happen at the department.
License
MIT-license.
Project status
The project is mostly updated when courses using the robots are ongoing.