Basic Motion

• 方法一

import time

from jetbot import Robot

robot = Robot()

robot.left(speed=0.3)

time.sleep(0.5)

robot.stop()

• 方法二

import time

from jetbot import Robot

robot.set_motors(0.3, 0.6)

time.sleep(1.0)

robot.stop()

• 方法三

import time

from jetbot import Robot

robot.left_motor.value = 0.3

robot.right_motor.value = 0.6

time.sleep(1.0)

robot.left_motor.value = 0.0

robot.right_motor.value = 0.0

from jetbot import Robot

from IPython.display import display

import time

import traitlets

import ipywidgets.widgets as widgets

# 建立robot物件

robot = Robot()

# create two sliders with range [-1.0, 1.0]

left_slider = widgets.FloatSlider(description='left', min=-1.0, max=1.0, step=0.01, orientation='vertical')

right_slider = widgets.FloatSlider(description='right', min=-1.0, max=1.0, step=0.01, orientation='vertical')

# create a horizontal box container to place the sliders next to each other

slider_container = widgets.HBox([left_slider, right_slider])

# display the container in this cell's output

display(slider_container)

#將兩個變數雙向連結

left_link = traitlets.link((left_slider, 'value'), (robot.left_motor, 'value'))

right_link = traitlets.link((right_slider, 'value'), (robot.right_motor, 'value'))

robot.forward(0.3)

time.sleep(10.0)

robot.stop()

#解除連結

#left_link.unlink()

#right_link.unlink()

#單向連結，僅顯示馬達數值，無法透過滑桿控制馬達

#left_link = traitlets.dlink((robot.left_motor, 'value'), (left_slider, 'value'))

#right_link = traitlets.dlink((robot.right_motor, 'value'), (right_slider, 'value'))

#停止

#robot.stop()

import time

from jetbot import Robot

import ipywidgets.widgets as widgets

from IPython.display import display

# 建立robot物件

robot = Robot()

# 建立按鈕物件

button_layout = widgets.Layout(width='100px', height='80px', align_self='center')

stop_button = widgets.Button(description='stop', button_style='danger', layout=button_layout)

forward_button = widgets.Button(description='forward', layout=button_layout)

backward_button = widgets.Button(description='backward', layout=button_layout)

left_button = widgets.Button(description='left', layout=button_layout)

right_button = widgets.Button(description='right', layout=button_layout)

# display buttons

middle_box = widgets.HBox([left_button, stop_button, right_button], layout=widgets.Layout(align_self='center'))

controls_box = widgets.VBox([forward_button, middle_box, backward_button])

display(controls_box)

#建立動作函數

def stop(change):

    robot.stop()

def step_forward(change):

    robot.forward(0.4)

    time.sleep(0.5)

    robot.stop()

def step_backward(change):

    robot.backward(0.4)

    time.sleep(0.5)

    robot.stop()

def step_left(change):

    robot.left(0.3)

    time.sleep(0.5)

    robot.stop()

def step_right(change):

    robot.right(0.3)

    time.sleep(0.5)

    robot.stop()

# link buttons to actions

stop_button.on_click(stop)

forward_button.on_click(step_forward)

backward_button.on_click(step_backward)

left_button.on_click(step_left)

right_button.on_click(step_right)

from jetbot import Heartbeat

from jetbot import Robot

import ipywidgets.widgets as widgets

from IPython.display import display

import traitlets

heartbeat = Heartbeat()

robot = Robot()

# this function will be called when heartbeat 'alive' status changes

def handle_heartbeat_status(change):

    if change['new'] == Heartbeat.Status.dead:

        robot.stop()

heartbeat.observe(handle_heartbeat_status, names='status')

period_slider = widgets.FloatSlider(description='period', min=0.001, max=0.5, step=0.01, value=0.5)

traitlets.dlink((period_slider, 'value'), (heartbeat, 'period'))

display(period_slider, heartbeat.pulseout)

from jetbot import Camera

from jetbot import bgr8_to_jpeg

import ipywidgets.widgets as widgets

import traitlets

camera = Camera.instance()

image = widgets.Image(format='jpeg', width=300, height=300)

display(image)

camera_link = traitlets.dlink((camera, 'value'), (image, 'value'), transform=bgr8_to_jpeg)

import uuid

import subprocess

#建立

button_layout = widgets.Layout(width='100px', height='80px', align_self='center')

snapshot_button = widgets.Button(description='shot' , layout=button_layout)

display(snapshot_button)

#建立snapshots資料夾

subprocess.call(['mkdir', '-p', 'snapshots'])

snapshot_image = widgets.Image(format='jpeg', width=300, height=300)

def save_snapshot(change):

    # save snapshot when button is pressed down    

    file_path = 'snapshots/' + str(uuid.uuid1()) + '.jpg'

    # write snapshot to file (we use image value instead of camera because it's already in JPEG format)

    with open(file_path, 'wb') as f:

        f.write(image.value)

    # display snapshot that was saved

    snapshot_image.value = image.value

snapshot_button.on_click(save_snapshot)