Path Commands
rv.waypoint_xythdrn()
Command: |
waypoint_xythdrn() |
---|---|
Command |
waypoint_xythdrn() |
Python |
rv.waypoint_xythdrn() |
Example: |
Getting the distance traveled toward the current way-point from the last way-point. |
Python |
L1 = rv.waypoint_xythdrn() D = L1[5] |
Range: |
N/A |
Describe: |
Read the x-coord, y-coord, time, heading, distance traveled, number of wheel revolutions, command number of the current waypoint. Returns a list with all these values as elements. Note: Revs due to rotation commands such as rv.left() or rv.right() are not measured. |
Result: |
Return list of current way-point X, Y coordinates, Time, Heading, Distance, Revolutions, and command number. |
Type or |
Returns Data |
rv.waypoint_prev()
Command: |
.waypoint_prev() |
---|---|
Command |
.waypoint_prev() |
Python |
rv.waypoint_prev() |
Example: |
Getting the distance traveled during the previous way-point. |
Python |
L1 = rv.waypoint_prev() D = L1[5] |
Range: |
N/A |
Describe: |
Read the x-coord, y-coord, time, heading, distance traveled, number of wheel revolutions, command number of the previous waypoint. Returns a list with all these values as elements. |
Result: |
Return list of the previous way-point X, Y coordinates, time, heading, distance, revolutions, and command number. |
Type or |
Returns Data |
rv.waypoint_eta()
Command: |
.waypoint_eta() |
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Command |
.waypoint_eta() |
Python |
time = rv.waypoint_eta() |
Range: |
N/A |
Describe: |
Returns the estimated time to drive to a waypoint. |
Result: |
Returns the estimated time to drive to a waypoint. |
Type or |
Returns Data |
rv.path_done()
Command: |
.path_done() |
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Command |
.path_done() |
Python |
while not rv.path_done(): pass |
Range: |
N/A |
Describe: |
Returns a value of 0 or1 depending on whether the Rover is moving (0) or finished with all movement (1). |
Result: |
Returns 0 or 1 indicating if Rover is moving (1) or if all path commands have been executed (0) |
Errors: |
|
Type or |
Returns Data |
rv.pathlist_x()
Command: |
.pathlist_x() |
---|---|
Command |
.pathlist_x() |
Python |
rv.pathlist_x() |
Example: |
Program to plot the RV path on the graph screen. |
Python |
rv.to_xy(1, 2) x = rv.pathlist_x() y = rv.pathlist_y()
print(“x = {}”.format(x)) print(“y = {}”.format(y)) |
Range: |
N/A |
Describe: |
Returns a list of X values from the beginning to end including the current Waypoint X value. |
Result: |
Return list of X coordinates traversed since last rv.path_clear() or start of execution. |
Type or |
Returns Data |
rv.pathlist_y()
Command: |
.pathlist_y() |
---|---|
Command |
.pathlist_y() |
Python |
rv.pathlist_y() |
Example: |
Program to plot the RV path on the graph screen. |
Python |
rv.to_xy(1, 2) x = rv.pathlist_x() y = rv.pathlist_y()
print(“x = {}”.format(x)) print(“y = {}”.format(y)) |
Range: |
N/A |
Describe: |
Returns a list of Y values from the beginning to end including the current Waypoint Y value. |
Result: |
Return list of Y coordinates traversed since last rv.path_clear() or start of execution. |
Type or |
Returns Data |
rv.pathlist_time()
Command: |
.pathlist_time() |
---|---|
Command |
.pathlist_time() |
Python |
rv.pathlist_time() |
Range: |
N/A |
Describe: |
Returns a list of the time in seconds from the beginning to and including the current Waypoint time value. |
Result: |
Return list of cumulative travel times for each successive way-point. |
Type or |
Returns Data |
rv.pathlist_heading()
Command: |
.pathlist_heading() |
---|---|
Command |
.pathlist_heading() |
Python |
rv.pathlist_heading() |
Range: |
N/A |
Describe: |
Returns a list of the headings from the beginning to and including the current Waypoint heading value. |
Result: |
Return list of cumulative angular headings taken. |
Type or |
Returns Data |
rv.pathlist_distance()
Command: |
.pathlist_distance() |
---|---|
Command |
.pathlist_distance() |
Example: |
Getting the cumulative distance traveled since the beginning of a journey by the RV. |
Python |
d = rv.pathlist_distance() |
Range: |
N/A |
Describe: |
Returns a list of the distances traveled from the beginning to and including the current Waypoint distance value. |
Result: |
Return list of cumulative distances traveled. |
Type or |
Returns Data |
rv.pathlist_revs()
Command: |
.pathlist_revs() |
---|---|
Command |
.pathlist_revs() |
Python |
rv.pathlist_revs() |
Range: |
N/A |
Describe: |
Returns a list of the number of revolutions traveled from the beginning to and including the current Waypoint revolutions value. Note: Revs due to rotation commands such as rv.left() or rv.right() are not measured. |
Result: |
Return list of wheel revolutions traveled. |
Type or |
Returns Data |
rv.pathlist_cmdnum()
Command: |
.pathlist_cmdnum() |
---|---|
Command |
.pathlist_cmdnum() |
Python |
actions = rv.pathlist_cmdnum() |
Range: |
N/A |
Describe: |
rv.pathlist.cmdnum() - returns a list of command numbers for the path. |
Result: |
Return list of commands used to travel to the current way-point entry. 0 - Start of Way-points (if first action is a STAY, then no START is given, but a STAY will be shown instead.) 1 - Travel forward 2 - Travel backward 3 - Left spin motion 4 - Right spin motion 5 - Left turn motion 6 - Right turn motion 7 - Stay (no motion) the time the RV stays at the current position is given in the TIME list. 8 - RV is currently in motion on this way-point traversal |
Type or |
Returns Data |
rv.waypoint_x()
Command: |
.waypoint_x() |
---|---|
Command |
.waypoint_x() |
Python |
x = rv.waypoint_x() |
Range: |
N/A |
Describe: |
Returns x coordinate of current waypoint. |
Result: |
Return current way-point X coordinate. |
Type or |
Returns Data |
rv.waypoint_y()
Command: |
.waypoint_y() |
---|---|
Command |
.waypoint_y() |
Python |
y = rv.waypoint_y() |
Range: |
N/A |
Describe: |
Returns y coordinate of current waypoint. |
Result: |
Return current way-point Y coordinate. |
Errors: |
|
Type or |
Returns Data |
rv.waypoint_time()
Command: |
.waypoint_time() |
---|---|
Command |
.waypoint_time() |
Python |
time = rv.waypoint_time() |
Range: |
N/A |
Describe: |
Returns time spent traveling from previous to current waypoint. |
Result: |
Return total cumulative way-point travel time value in seconds. |
Type or |
Returns Data |
rv.waypoint_heading ()
Command: |
.waypoint_heading () |
---|---|
Command |
.waypoint_heading () |
Python |
heading = rv.waypoint_heading() |
Range: |
N/A |
Describe: |
Returns the absolute heading of the current waypoint. |
Result: |
Return current absolute heading in degrees. (+h = counter- clockwise, -h = clockwise). |
Type or |
Returns Data |
rv.waypoint_distance()
Command: |
.waypoint_distance() |
---|---|
Command |
.waypoint_distance() |
Python |
distance = rv.waypoint_distance() |
Range: |
N/A |
Describe: |
Returns the distance traveled between previous and current waypoint. |
Result: |
Return cumulative total distance traveled in meters. |
Type or |
Returns Data |
rv.waypoint_revs()
Command: |
.waypoint_revs() |
---|---|
Command |
.waypoint_revs() |
Python |
revs = rv.waypoint_revs() |
Range: |
|
Describe: |
Returns number of revolutions needed to travel between previous and current waypoint. Note: Revs due to rotation commands such as rv.left() or rv.right() are not measured. |
Result: |
Return total revolutions of the wheels performed to travel the cumulative distance to the current way-point. |
Errors: |
|
Type or |
Returns Data |