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Merged
knmcguire merged 13 commits into from
Mar 31, 2023
Merged

add wall following cflib demo #390

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d3b5757
ported c code wall following from app to python
knmcguire Mar 22, 2023
cd93de8
flake8 format
knmcguire Mar 22, 2023
babfc7c
fixed things in simulation
knmcguire Mar 22, 2023
3937e41
fixed in corner behavior
knmcguire Mar 22, 2023
28b7b7b
added cflib multiranger follower script
knmcguire Mar 22, 2023
8fdfd90
clean up of examples
knmcguire Mar 28, 2023
2656ff2
flake8
knmcguire Mar 28, 2023
f836240
changed name wall following script
knmcguire Mar 28, 2023
bcbb1a4
changed class name wallfollowing
knmcguire Mar 28, 2023
5b5fd9c
fix flake8
knmcguire Mar 28, 2023
8a97c0d
add top-range stop instead of keyboard
knmcguire Mar 28, 2023
7c93168
fixed CI build issues
knmcguire Mar 28, 2023
db3f5ab
add doc and remove debug prints
knmcguire Mar 30, 2023
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add doc and remove debug prints
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@knmcguire
knmcguire committed Mar 30, 2023
commit db3f5ab90e215a6355abbe7780906100c0822a86
5 changes: 4 additions & 1 deletion examples/multiranger/multiranger_wall_following.py
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Expand Up @@ -27,7 +27,10 @@

This examples uses the Flow and Multi-ranger decks to measure distances
in all directions and do wall following. Straight walls with corners
are advised to have in the test environment
are advised to have in the test environment.
This is a python port of c-based app layer example from the Crazyflie-firmware
found here https://github.com/bitcraze/crazyflie-firmware/tree/master/examples/
demos/app_wall_following_demo

For the example to run the following hardware is needed:
* Crazyflie 2.0
Expand Down
9 changes: 5 additions & 4 deletions examples/multiranger/wall_following/wall_following.py
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Expand Up @@ -24,6 +24,11 @@
# along with this program. If not, see <https://www.gnu.org/licenses/>.
"""
Helper class for the wall following demo

This is a python port of c-based app layer example from the Crazyflie-firmware
found here https://github.com/bitcraze/crazyflie-firmware/tree/master/examples/
demos/app_wall_following_demo

"""
import math
from enum import Enum
Expand Down Expand Up @@ -161,9 +166,6 @@ def wall_follower(self, front_range, side_range, current_heading,
# Handle state transitions
match self.state_wf:
case self.StateWF.FORWARD:
print('front', front_range)
print('ref_distance_from_wall', self.ref_distance_from_wall)
print('buffer', self.ranger_value_buffer)
if front_range < self.ref_distance_from_wall + self.ranger_value_buffer:
self.state_wf = self.transition(self.StateWF.TURN_TO_FIND_WALL)
case self.StateWF.HOVER:
Expand All @@ -187,7 +189,6 @@ def wall_follower(self, front_range, side_range, current_heading,
case self.StateWF.TURN_TO_ALIGN_TO_WALL:
align_wall_check = self.logic_is_close_to(
self.wrap_to_pi(current_heading - self.prev_heading), self.wall_angle, self.angle_value_buffer)
print(self.wrap_to_pi(current_heading - self.prev_heading), self.wall_angle)
if align_wall_check:
self.state_wf = self.transition(self.StateWF.FORWARD_ALONG_WALL)
case self.StateWF.FORWARD_ALONG_WALL:
Expand Down