Mace Robotics

 Developers>Tutoriels>Move the robot

The MRPi1 robot is a differential wheeled robot based on two separately driven wheels and one free turning wheel.

Forward

• Start the python program :

$ python

• import the mrpi1_lib library :

$ from mrpi1_lib import *

• move the robot :

>>> forward(20)

This function allows to move the robot with a speed of 20 %. Speed is a value between 0 and 100%. The maximum speed is 100%.

• Stop the robot :

>>> stop()

Forward & back

Then leave python interpreter to create a script :

>>> exit() 

• You can create a python script with the editor of your choice, for me I use Notepad++ and then I transfer the script to the Raspberry Pi via the FileZilla software.

• Exemple :

Name : move1.py

#!/usr/bin/python
from mrpi1_lib import *
import time


forward(50)
time.sleep(2)
stop()
time.sleep(1)
back(50)
time.sleep(2)
stop()

Then, you must make it executable with the command :

$ chmod +x move1.py

• Run program :

$ ./move1.py

The robot must :

1. Start of program
2. Forward for 2 seconds
3.  Stop for 1 second
4.  Back for 2 seconds
5. Stop
6. End program

Turn

• Exemple :

Name : move2.py

#!/usr/bin/python
from mrpi1_lib import *
import time


turnRight(30)
time.sleep(2)
stop()
time.sleep(0.5)
turnLeft(20)
time.sleep(1)
stop()

• Run program :

$ ./move2.py

The robot must :

1. Start of program
2. Turn right for 2 seconds
3.  Stop for 0.5 second
4. Turn left for 1 second
5. Stop
6. End program