| from robomaster import robot, led | |
| from dora import Node | |
| from time import sleep | |
| import numpy as np | |
| import pyarrow as pa | |
| CONN = "ap" | |
| ep_robot = robot.Robot() | |
| print("Initializing robot...", flush=True) | |
| assert ep_robot.initialize(conn_type=CONN), "Could not initialize ep_robot" | |
| assert ep_robot.camera.start_video_stream(display=False), "Could not start video stream" | |
| node = Node() | |
| ep_robot.gimbal.recenter().wait_for_completed() | |
| backlog = [] | |
| last_control = "" | |
| position = np.array([0.0, 0.0, 0.0]) | |
| count = -1 | |
| event = None | |
| rgb = [0, 0, 0] | |
| def wait(event): | |
| if event is not None and not (event._event.isSet() and event.is_completed): | |
| sleep(1) | |
| for dora_event in node: | |
| event_type = dora_event["type"] | |
| if event_type == "INPUT": | |
| if dora_event["id"] == "tick": | |
| node.send_output("position", pa.array(position)) | |
| node.send_output("control_reply", pa.array([count])) | |
| elif dora_event["id"] == "planning_control": | |
| [x, y, z, xy_speed, z_speed, pitch, yaw, count] = dora_event[ | |
| "value" | |
| ].to_numpy() | |
| if any([pitch, yaw]): | |
| event = ep_robot.gimbal.moveto( | |
| pitch=pitch, yaw=yaw, pitch_speed=60.0, yaw_speed=50.0 | |
| ) | |
| wait(event) | |
| sleep(2) | |
| if any([x, y, z]): | |
| event = ep_robot.chassis.move( | |
| x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed | |
| ) | |
| position = position + np.array([x, y, z]) | |
| wait(event) | |
| sleep(6) | |
| elif dora_event["id"] == "led": | |
| [r, g, b] = dora_event["value"].to_numpy() | |
| rgb = [r, g, b] | |
| if rgb != rgb: | |
| ep_robot.led.set_led( | |
| comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON | |
| ) | |
| rgb = rgb | |