OrbsOnWheels

OrbsOnWheels is a project dedicated to develop a blockchain driven self driving car (blockchain driven car?) The project uses raspberry pi zeros to control robot cars through a smart contract on the ORBS network.

Module features

• Simulation of cars using matplotlib.
• Simulation of cars, drawing cars by data that clients send.
• Simulation of cars, drawing cars by data that clients send according to commands recieved from the server.

Usage

1. To run the simulation of cars without any communication: run main.py and set the global variable USE_SERVER = False. This will run the simulation with the given commands: cmd0 cmd1 and cmd2 to control all cars.

2. To run the Simulation with data straight from the client (without the server letting the client know which command it should run): run main.py with the global variable USE_SERVER = True, SEND_COMMAND in server.py should be False and USE_SERVER_COMMAND in network/client.py should be False. after running main.py you can run the client.py but be sure to change any network addresses (HOST and PORT) that might change for you.

3. To run the simulation of cars with the server letting the clients which commands to execute: run main.py with the global variable USE_SERVER = True, SEND_COMMAND in server.py should be True and USE_SERVER_COMMAND in network/client.py should be True. Note: be sure to change any network addresses (HOST and PORT) that might change for you.

Note: configutarion 1 will run all the commands from the main.py file, 2 will run commands from the network/client.py file and 3 will run commands from the server.py file.

Car command reference

Cars can be controled by setting a spped for them, then starting to call commands in a loop. The cars can only move or rotate once, every time a call has been made to one of their command functions.

• MOV
  • moves the car in its current direction velocity units. doesn't take any parameters. the faster the car the more it moves.
• ROT <angle>
  • rotates the car towards the desired angle. should be called until the desired angle has been acheived and the car stops rotating. Note: when ROT 90 is called the car will rotate until it reached 90 degrees of the X-axis, it does not rotate 90 degrees regardles of it's current angle.
• MOVXY <x> <y>
  • Moves the car to a specified (x, y) value. The car will first rotate to achieve the correct angle, then will move forward until it's position is (x, y). Note: you dont need to change the commands until the given point is reached, the MOVXY command internaly changes it commands.
• RAD <radius> <angle>
  • Moves the car in an arch with a radius of radius until it reaches the desired angle.
• WAIT <time>
  • Makes the car stay in place for a given amount of calls to car.decInterval() (which should be called once every iteration of the main loop). The WAIT command changes the internal state of the car to car.stop to ensure the car can't move.