VREP Magic Demo - Pioneer Robot

Demonstration using the Pioneer robot:

use downward facing RGB sensors to follow a line.



In [1]:

    
#Set up the notebook to work with the V-REP simulator
%run 'Set-up.ipynb'
%run 'Loading scenes.ipynb'



In [4]:

    
#Load the Pioneer models
%run 'vrep_models/PioneerP3DX.ipynb'









    



Loading class: PioneerP3DX_base
This is a base class for the PioneerP3DX_base model

Loading class: PioneerP3DX
Methods available in PioneerP3DX:
	get_orientation
	get_orientation_degrees
	move_backward
	move_forward
	rotate_left
	rotate_right
	set_two_motor
	ultrasonic_left_length
	ultrasonic_right_length

Loading class: PioneerP3DXL
Methods available in PioneerP3DXL:
	color_left
	color_right
	get_orientation
	move_backward
	move_forward
	rotate_left
	rotate_right
	set_two_motor
	ultrasonic_left_length
	ultrasonic_right_length

The following text widgets are available for display: sensorText1, sensorText2

Line Follower Example



In [7]:

    
%vrep_robot_methods PioneerP3DXL









    



Methods available in PioneerP3DXL:
	color_left
	color_right
	move_backward
	move_forward
	rotate_left
	rotate_right
	set_two_motor
	ultrasonic_left_length
	ultrasonic_right_length



In [3]:

    
%%vrepsim '../scenes/LineFollowerPioneer.ttt' PioneerP3DXL
# black color      :  43
# white-gray color : -53
import time
while True:
    lclr = robot.color_left()
    rclr = robot.color_right()
    if lclr > 10:
        robot.rotate_left(0.3)
    if rclr > 10:
        robot.rotate_right(0.3)
    if lclr < -20 and rclr < -20:
        robot.move_forward(1.5)
    time.sleep(0.001)

The following demo shows how to use a couple of text widgets that are updated from the robot control script.



In [64]:

    
import time
def line_follow(pioneer):
    lclr = pioneer.color_left()
    rclr = pioneer.color_right()
    if lclr > 10:
        pioneer.rotate_left(0.3)
    if rclr > 10:
        pioneer.rotate_right(0.3)
    if lclr < -20 and rclr < -20:
        pioneer.move_forward(1.5)
    time.sleep(0.001)



In [65]:

    
sensorText1.description = 'Left light'
sensorText2.description = 'Max left light'

display(sensorText1,sensorText2)



In [7]:

    
%%vrepsim '../scenes/LineFollowerPioneer.ttt' PioneerP3DXL    
maxval=robot.color_left() 
while True:
    line_follow(robot)
    sensorText1.value =str(robot.color_left())
    maxval =  robot.color_left() if robot.color_left() > maxval else maxval
    sensorText2.value=str(maxval)

Returning data



In [57]:

    
%matplotlib inline
import pandas as pd

df=pd.DataFrame(columns=['Time','Left sensor'])

#If we want to set df directly within the evaluated code in the vrepsim block
#we need to specify it in that block using: global df
#However, objects are mutable in that scope, so pass the dataframe that way
data={'df':df}



In [58]:

    
%%vrepsim '../scenes/LineFollowerPioneer.ttt' PioneerP3DXL

maxval=robot.color_left()
start_time = time.time()
while True:
    line_follow(robot)
    sensorText1.value =str(robot.color_left())
    maxval =  robot.color_left() if robot.color_left() > maxval else maxval
    sensorText2.value=str(maxval)
    elapsed_time = time.time() - start_time
    data['df']=pd.concat([data['df'],pd.DataFrame([{'Time':elapsed_time,
                                                    'Left sensor':robot.color_left()}])])



In [59]:

    
data['df'].plot(x='Time',y='Left sensor');



In [ ]:

VREP Magic Demo - Pioneer Robot

Line Follower Example

Widget Demo

Returning data