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Amiga Vehicle Twist example

Basic Knowledge Requirements

Before diving into this code, here's a quick heads-up on what you'll need to be familiar with:

  1. Python Programming: It's important to have a good grasp of Python, especially with concepts like functions, and loops, since the example utilizes these fundamentals. and poses as they pertain to autonomous systems and autonomous navigation.
  2. Asynchronous Programming with asyncio: Familiarity with Python's asyncio for writing concurrent code using the async/await syntax.
  3. farm-ng Canbus Service Overview: This overview provides a base understanding of the gRPC service the client you create will connect to.

The Amiga Vehicle Twist example is a basic way of showing how to send Twist2d proto messages to the canbus service to control the amiga.

1. Install the farm-ng Brain ADK package​

2. Install the example's dependencies​

Setup​

cd farm-ng-amiga/
Recommended

Create a virtual environment

python3 -m venv venv
source venv/bin/activate

Install​

cd py/examples/vehicle_twist
pip install -r requirements.txt

3. Execute the Python script​

info

To run this script from your PC, you need to update the service_config.json by modifying the host field with your Amiga brain name.

Please check out Amiga Development 101 for more details.

python main.py --service-config service_config.json
warning

WARNING: When the dashboard is in auto mode, this will cause the Amiga to drive. Make sure the area is clear before using this.

You can also test this by sending the commands when the Amiga dashboard is not in AUTO READY or AUTO ACTIVE and see the commands being sent with the red needle on the auto page.

Drive the amiga​

Use the WASD keys to drive the amiga in the window that pops up after when run the script.

w & s will increment the linear velocity up / down respectively.

a & d will increment the angular velocity left / right respectively.

caution

The commanded speed will persist!

Use space bar to set all velocities back to 0.

Use q to quit the application.

Expected output​

You should see a printed stream of the Twist2d messages you are sending to the canbus service.