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50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
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execfile("Modified_data/realtime.py")
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execfile("Modified_data/vehicleState.dr")
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trick.TMM_reduced_checkpoint(0)
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veh_integloop.getIntegrator(trick.Runge_Kutta_4, 8)
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veh.vehicle.position[0] = 0.0
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veh.vehicle.position[1] = 0.0
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veh.vehicle.heading = 0.0;
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veh.vehicle.distanceBetweenWheels = 0.183
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veh.vehicle.wheelRadius = 0.045
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veh.vehicle.wheelSpeedLimit = 8.880
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veh.vehicle.headingRateLimit = 3.14159/3
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veh.vehicle.slowDownDistance = 0.5
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veh.vehicle.arrivalDistance = 0.1
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#==========================================
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# Add the waypoints to the SIM.
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#==========================================
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waypoints_path = "Modified_data/cross.waypoints"
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fp = open(waypoints_path, "r")
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for line in fp:
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fields = line.split(r",")
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veh.vehicle.add_waypoint( float(fields[0]), float(fields[1]))
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#==========================================
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# Start the display VarServer Client
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#==========================================
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varServerPort = trick.var_server_get_port();
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trick_home = os.environ['TRICK_HOME']
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EVDisplay_path = trick_home + "/trick_models/Wheelbot/Graphics/dist/EVDisplay.jar"
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if (os.path.isfile(EVDisplay_path)) :
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EVDisplay_cmd = "java -jar " \
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+ EVDisplay_path \
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+ " -v images/twoWheelRover.png " \
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+ " -w " + waypoints_path \
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+ " " + str(varServerPort) + " &" ;
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print(EVDisplay_cmd)
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os.system( EVDisplay_cmd);
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else :
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print('============================')
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print('EVDisplay needs to be built.')
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print('============================')
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trick.stop(100)
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