Alphabet

Alphabet subsystem for formations

We have also developed a special type of formation that can be used with Clovers, which would be letter and word formation. The code itself is in the file alphabet.py, it only has seven letters in total, specifically the A, C, E, O, S, X and our logo called SWARM_S. For the letters mentioned basically a Numpy array was created with the coordinates of the points corresponding to the drones.

A = np.array([[0, 0, z, 1],
             [0, 2, z, 1],
             [0, 4, z, 1],
             [0, 6, z, 1],
             [2, 8, z, 1],
             [4, 8, z, 1],
             [6, 0, z, 1],
             [6, 2, z, 1],
             [6, 4, z, 1],
             [6, 6, z, 1],
             [2, 4, z, 1],
             [4, 4, z, 1],  # Simple 12
             [3, 8, z, 1],
             [1, 4, z, 1],
             [3, 4, z, 1],
             [5, 4, z, 1],  # Medium 16
             [6, 1, z, 1],
             [0, 1, z, 1],
             [0, 3, z, 1],
             [0, 5, z, 1],
             [6, 3, z, 1],
             [6, 5, z, 1],
             [0.65, 6.65, z, 1],
             [1.35, 7.35, z, 1],
             [4.85, 7.35, z, 1],
             [5.45, 6.65, z, 1]], dtype=float)  # Full 26
A_size = [12, 16, 26]pyt

In addition different types of fills were created, these being: Simple, Medium, Full, which correspond from the minimum to the maximum number of points that can compose the Letter of each word.

How to use it

You can use the alphabet.py file and give the following command:

python3 /catkin_ws/src/swarm_in_blocks/swarm_in_blocks/src/swarm_in_blocks/alfabet.py

The second way is by using the menu after you have launched the simulation, as below. After that you will select the letter "a" and write the desired word or letter.

python3 ~/catkin_ws/src/swarm_in_blocks/swarm_examples/src/terminal_control.py 

Because we have limited letters an alternative was to use a website that creates STL files of phrases and letters in different formatting styles. The site is at the link. From this file you can use another function called Formation 3D.