Lesson 21 - Motion Command Queueing

Learning Objective

• Build multi-step motion sequences using command dictionaries.
• Queue and execute motion plans using bot.enqueue_move() and bot.run_queue().
• Flush active command sequences using bot.clear_queue() and execute geometric macros like bot.draw_square().

Introduction

Complex robotic behaviors require executing sequence lists of motions (e.g. drive 0.5m -> rotate 90° -> drive 0.2m -> rotate -45°). Command queueing allows you to declare full motion plans and execute them sequentially.

This lesson covers enqueue_move(), run_queue(), clear_queue(), and built-in shape macros like draw_square().

Code

import time
from bonicbot_bridge import BonicBot
 
with BonicBot(host="192.168.29.52") as bot:
    time.sleep(5)
    print("Using shape macro: draw_square(side_m=0.4)...")
    # Automatically queues and executes a 4-side square trajectory
    bot.draw_square(side_m=0.4, speed=0.2, turn_speed=45.0)

[!NOTE] Before running the code, make sure to replace "192.168.29.52" with your BonicBot’s actual IP address.

Expected Output

🤖 Connected to BonicBot at 192.168.29.52:9090
Using shape macro: draw_square(side_m=0.4)...
🔌 Disconnected from BonicBot

🔧 Under the Hood

Student Challenge

Challenge 1 — Python Only

Write a function generate_star_pattern(num_points, side_meters) that returns a list of command dictionaries for driving a star trajectory.

def generate_star_pattern(num_points=5, side_meters=0.4):
    turn_angle = 180.0 - (180.0 / num_points)
    plan = []
    for _ in range(num_points):
        plan.append({"type": "drive", "dist": side_meters, "speed": 0.2})
        plan.append({"type": "rotate", "angle": turn_angle, "speed": 45.0})
    return plan
 
print("Generated star plan items:", len(generate_star_pattern()))

Challenge 2 — Robot

Queue a 3-step inspection routine (drive 0.3m, rotate 180°, drive 0.3m), but clear the queue if any command fails.

from bonicbot_bridge import BonicBot
 
with BonicBot(host="192.168.0.188") as bot:
    routine = [
        {"type": "drive", "dist": 0.3, "speed": 0.2},
        {"type": "rotate", "angle": 180.0, "speed": 45.0},
        {"type": "drive", "dist": 0.3, "speed": 0.2},
    ]
 
    bot.enqueue_move(routine)
    ok = bot.run_queue(block=True)
    if not ok:
        print("Maneuver aborted! Clearing queue.")
        bot.clear_queue()

Quick Reference

Reflection Questions