Commit 58da3ef4 authored by gxiang's avatar gxiang
Browse files

add lots of graph

parent d061ac1c
......@@ -26,6 +26,6 @@ for event in log:
msg.theta
]]), axis=0)
plt.plot(data[:,0], data[:,1], 'r')
plt.plot(data[:,0], data[:,3], 'r')
plt.show()
plt.savefig("sad" + '.png')
\ No newline at end of file
plt.savefig("xVA" + '.png')
\ No newline at end of file
......@@ -13,17 +13,18 @@ stop_command.trans_v = 0.0
stop_command.angular_v = 0.0
drive_command = mbot_motor_command_t()
drive_command.trans_v = 0.25
drive_command.trans_v = 1
drive_command.angular_v = 0.0
turn_command = mbot_motor_command_t()
turn_command.trans_v = 0
pi = 3.1415
turn_command.angular_v = -0.785
lc.publish("MBOT_MOTOR_COMMAND",drive_command.encode())
sleep(4.0)
#lc.publish("MBOT_MOTOR_COMMAND",turn_command.encode())
#sleep(1.5)
turn_command.angular_v = 3.1415;
lc.publish("MBOT_MOTOR_COMMAND",turn_command.encode())
sleep(2)
#lc.publish("MBOT_MOTOR_COMMAND",drive_command.encode())
#sleep(2.0)
#lc.publish("MBOT_MOTOR_COMMAND",drive_command.encode())
#sleep(4.0)
lc.publish("MBOT_MOTOR_COMMAND",stop_command.encode())
......
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