example: pose_example.py

Author: eigen-value

examples/pose_example.py

@@ -0,0 +1,43 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep_ms
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+
+while True:
+    try:
+
+        alvik.move(100.0)
+        while (ack := alvik.get_ack()) != ord('M'):
+            sleep_ms(200)
+        print("on target after move")
+
+        alvik.rotate(90.0)
+        while (ack := alvik.get_ack()) != ord('R'):
+            sleep_ms(200)
+        print("on target after rotation")
+
+        alvik.move(50.0)
+        while (ack := alvik.get_ack()) != ord('M'):
+            sleep_ms(200)
+        print("on target after move")
+
+        alvik.rotate(-45.00)
+        while (ack := alvik.get_ack()) != ord('R'):
+            sleep_ms(200)
+        print("on target after rotation")
+
+        x, y, theta = alvik.get_pose()
+        print(f'Current pose is x={x}, y={y} ,theta={theta}')
+
+        alvik.reset_pose(0, 0, 0)
+
+        x, y, theta = alvik.get_pose()
+        print(f'Updated pose is x={x}, y={y} ,theta={theta}')
+        sleep_ms(500)
+
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()