Mecanum Wheel麥輪Robomaster小車圓周運動解析

ep_chassis.drive_wheels(w1=60, w2=0, w3=0, w4=60)
time.sleep(16)

#以下為教學程式
from robomaster import robot
import time

ep_robot = robot.Robot()
ep_robot.initialize(conn_type="ap") #ap , sta兩種連線模式，都要有無線能力

ep_robot.set_robot_mode(mode=robot.CHASSIS_LEAD)
print('雲台跟隨底盤模式')

ep_chassis = ep_robot.chassis

xx=[]
yy=[]
def sub_position_handler(position_info):
    x, y, z = position_info
    xx.append(x)
    yy.append(-y) #符合數學座標方向

ep_chassis.sub_position(freq=10, callback=sub_position_handler)
print('訂閱position')

print('w1 右前、w2左前、w3左後、w4右後')
ep_chassis.drive_wheels(w1=60, w2=0, w3=0, w4=60)
time.sleep(16)
ep_chassis.drive_wheels(w1=0, w2=0, w3=0, w4=0)

ep_chassis.unsub_position()
print('停止訂閱position')

ep_chassis.drive_wheels(w1=0, w2=0, w3=0, w4=0)
ep_robot.close()


# 用pyplot繪出行進的軌跡
import matplotlib.pyplot as plt

plt.plot(xx, yy, 'r+')
ax = plt.gca() # gets the active axis 
ax.set_aspect(1) 
plt.savefig('trace.png', dpi=300)
plt.show()