From d2ce99eabe5566b9e56031425316da5a1d1c8875 Mon Sep 17 00:00:00 2001
From: abhay <asbhay2000@gmail.com>
Date: Mon, 26 May 2025 19:34:09 +0530
Subject: [PATCH] First part

---
 Assignment_1 Submission_1.py | 91 ++++++++++++++++++++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 Assignment_1 Submission_1.py

diff --git a/Assignment_1 Submission_1.py b/Assignment_1 Submission_1.py
new file mode 100644
index 0000000..dc25447
--- /dev/null
+++ b/Assignment_1 Submission_1.py	
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+
+class MySquareTurtle(Node):
+
+    def __init__(self):
+        super().__init__('my_square_turtle')
+
+        self.vel_pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+        self.pose_sub = self.create_subscription(Pose, '/turtle1/pose', self.pose_cb, 10)
+
+        # We'll grab the starting position once we get first pose update
+        self.start_x = None
+        self.start_y = None
+        self.start_theta = None
+
+        self.side = 3.0
+        self.speed = 1.0
+        self.turn_speed = 1.5
+
+        self.state = 'GOING_FORWARD'  # could be 'TURNING'
+        self.corners_done = 0
+        self.target_angle = None
+
+        self.get_logger().info("Hey! Turtle’s ready to draw a square. Let's go!")
+
+    def pose_cb(self, pose):
+        if self.start_x is None:
+            self.start_x = pose.x
+            self.start_y = pose.y
+            self.start_theta = pose.theta
+            self.target_angle = self.fix_angle(pose.theta + math.pi/2)
+            self.get_logger().info(f"Starting pos: ({self.start_x:.2f},{self.start_y:.2f})")
+
+        twist = Twist()
+
+        if self.state == 'GOING_FORWARD':
+            dist = self.calc_dist(pose.x, pose.y, self.start_x, self.start_y)
+            if dist < self.side:
+                twist.linear.x = self.speed
+                twist.angular.z = 0.0
+            else:
+                self.get_logger().info(f"Reached corner #{self.corners_done + 1}, time to turn!")
+                twist.linear.x = 0.0
+                self.state = 'TURNING'
+        elif self.state == 'TURNING':
+            angle_diff = self.fix_angle(self.target_angle - pose.theta)
+            if abs(angle_diff) > 0.05:
+                twist.angular.z = self.turn_speed if angle_diff > 0 else -self.turn_speed
+                twist.linear.x = 0.0
+            else:
+                twist.angular.z = 0.0
+                twist.linear.x = 0.0
+                self.corners_done += 1
+                self.start_x = pose.x
+                self.start_y = pose.y
+                self.target_angle = self.fix_angle(self.target_angle + math.pi/2)
+                self.get_logger().info(f"Turn done! Corners done: {self.corners_done}")
+                if self.corners_done >= 4:
+                    self.get_logger().info("Woohoo! Square completed. Stopping now.")
+                    rclpy.shutdown()
+                else:
+                    self.state = 'GOING_FORWARD'
+
+        self.vel_pub.publish(twist)
+
+    def calc_dist(self, x1, y1, x2, y2):
+        return math.sqrt((x1 - x2)**2 + (y1 - y2)**2)
+
+    def fix_angle(self, angle):
+        while angle > math.pi:
+            angle -= 2*math.pi
+        while angle < -math.pi:
+            angle += 2*math.pi
+        return angle
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MySquareTurtle()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file