Controller.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Controller\n",
    "\n",
    "## PLACER LE ROBOT AU SOL\n",
    "<!--\n",
    "**AVANT EXÉCUTION**\n",
    "\n",
    "Au même endroit où vous lancez habituellement la commande `jupyter notebook`, exécutez la commande suivante.\n",
    "\n",
    "```\n",
    "$ jupyter nbextension enable --py widgetsnbextension --sys-prefix \n",
    "```\n",
    "\n",
    "Cette commande active une extension de jupyter qui permet d'écrire du javascript au sein d'un notebook IPython. Une fois cette commande exécutée, relancez jupyter au complet (pas seulement le kernel).\n",
    "!-->"
   ]
  },
  {
   "cell_type": "code",
   "metadata": {
    "collapsed": false,
    "jupyter": {
     "outputs_hidden": false
    },
    "pycharm": {
     "is_executing": true
    },
    "ExecuteTime": {
     "end_time": "2024-11-14T20:59:26.413208Z",
     "start_time": "2024-11-14T20:59:26.287223Z"
    }
   },
   "source": [
    "from IPython.display import display\n",
    "from ipywidgets import widgets\n",
    "\n",
    "from robmob.robot import Robot"
   ],
   "outputs": [],
   "execution_count": 2
  },
  {
   "cell_type": "code",
   "metadata": {
    "collapsed": false,
    "jupyter": {
     "outputs_hidden": false
    }
   },
   "source": [
    "# A bit of robot setup\n",
    "ip_robot = 'localhost'\n",
    "robot = Robot(ip_robot)\n",
    "robot.connect()"
   ],
   "outputs": [],
   "execution_count": null
  },
  {
   "cell_type": "code",
   "metadata": {
    "collapsed": false,
    "jupyter": {
     "outputs_hidden": false
    },
    "ExecuteTime": {
     "end_time": "2024-11-14T20:59:49.743666Z",
     "start_time": "2024-11-14T20:59:49.723088Z"
    }
   },
   "source": [
    "DEFAULT_LINEAR_SPEED = 0.08\n",
    "DEFAULT_ANGULAR_SPEED = 3.14159 / 2\n",
    "DEFAULT_DURATION = 0.38\n",
    "\n",
    "up = widgets.Button(description='Up')\n",
    "down = widgets.Button(description='Down')\n",
    "left = widgets.Button(description='Left')\n",
    "right = widgets.Button(description='Right')\n",
    "kill = widgets.Button(description='KILL', button_style='danger')\n",
    "precise_5cm = widgets.Button(description='Precise 5cm')\n",
    "\n",
    "display(widgets.HBox((left, widgets.VBox((up, down)), right)))\n",
    "display(precise_5cm)\n",
    "display(kill)\n",
    "\n",
    "kill.on_click(lambda _: robot.general_movement(0, 0, DEFAULT_DURATION))\n",
    "up.on_click(lambda _: robot.general_movement(DEFAULT_LINEAR_SPEED, 0, DEFAULT_DURATION))\n",
    "down.on_click(lambda _: robot.general_movement(-DEFAULT_LINEAR_SPEED, 0, DEFAULT_DURATION))\n",
    "left.on_click(lambda _: robot.general_movement(0, DEFAULT_ANGULAR_SPEED, DEFAULT_DURATION))\n",
    "right.on_click(lambda _: robot.general_movement(0, -DEFAULT_ANGULAR_SPEED, DEFAULT_DURATION))\n",
    "precise_5cm.on_click(lambda _: robot.precise_movement(0.05, 0.05))\n"
   ],
   "outputs": [
    {
     "data": {
      "text/plain": [
       "HBox(children=(Button(description='Left', style=ButtonStyle()), VBox(children=(Button(description='Up', style=…"
      ],
      "application/vnd.jupyter.widget-view+json": {
       "version_major": 2,
       "version_minor": 0,
       "model_id": "826dca563ae940d394b26d01f4a9a64c"
      }
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "Button(description='Precise 5cm', style=ButtonStyle())"
      ],
      "application/vnd.jupyter.widget-view+json": {
       "version_major": 2,
       "version_minor": 0,
       "model_id": "75437e4dc4f14e63a00a9141fc2b0570"
      }
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "Button(button_style='danger', description='KILL', style=ButtonStyle())"
      ],
      "application/vnd.jupyter.widget-view+json": {
       "version_major": 2,
       "version_minor": 0,
       "model_id": "5e507b6074674eccbc041a1fa1b86fdc"
      }
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "execution_count": 4
  },
  {
   "cell_type": "code",
   "metadata": {},
   "source": [],
   "outputs": [],
   "execution_count": null
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  },
  "widgets": {
   "state": {
    "0fe71df3d73445709dd36a4768d13067": {
     "views": []
    },
    "165087f647864254a2786f17cdb54da2": {
     "views": []
    },
    "1ddcf9736a854555b46c11264d0d43f9": {
     "views": []
    },
    "49c65ce7e66e4ad38cc4ab16167ff81a": {
     "views": []
    },
    "4c159449a0ff468988e02a009245180d": {
     "views": []
    },
    "524a368f457c4a47a1d5b4d3608b8b3a": {
     "views": []
    },
    "57f26032646f47eca7051edcf4ccaa91": {
     "views": []
    },
    "666cd5c4378149f6a5e05b3dda3c7aa5": {
     "views": [
      {
       "cell_index": 3
      }
     ]
    },
    "6d09429b27da4356adfa6bef0763ef2c": {
     "views": []
    },
    "79994c13bc85438eb4fc3b98e0b9611f": {
     "views": []
    },
    "8b817cd6c2f7428facc63d26645f844f": {
     "views": [
      {
       "cell_index": 3
      }
     ]
    },
    "ab5135566a084ebebc20ffb2d1bbce33": {
     "views": []
    },
    "cd896ac509bf41f39fe758a36a767879": {
     "views": []
    },
    "fc3d45a849a44fbdac8c7db6a3a54677": {
     "views": []
    }
   },
   "version": "1.1.2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}