Changeset c2cf7f2 in robotics

Timestamp:

06/14/14 08:33:28 (8 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Children:

7868465

Parents:

18a0139

Message:

• working on command line control

File:

• car/python/Car_Demo.py (modified) (12 diffs)

car/python/Car_Demo.py

@@ -7 +7 @@
 
 __changelog__ = """\
-Last Update: 2014.06.09
+Last Update: 2014.06.10
 """
 
@@ -13 +13 @@
 """
 
-import string, time
+import string, sys, time
 import serial
+import signal
 
 #import Configuration as configuration
 
 #if configuration.ENABLE_PYSIDE:
-        #try:
-                #import PySide as PyQt4
-                #from PySide import QtCore
-        #except Exception, e:
-                #print "ERROR: Exception importing PySide:",
-                #print e
+try:
+        import PySide as PyQt4
+        from PySide import QtCore
+except Exception, e:
+        print "ERROR: Exception importing PySide:",
+        print e
                 #configuration.ENABLE_PYSIDE = False
         #else:
@@ -45 +46 @@
 TAG = 'Robotics:Car'
 
-#DEFAULT_COMMAND = 'neutral'
+DEFAULT_COMMAND = 'neutral'
 #DEFAULT_SERIAL_DEVICE = '/dev/ttyACM0'
 DEFAULT_SERIAL_DEVICE_STEPPER = '/dev/ttyACM0'
@@ -64 +65 @@
 
 LOOP_TIMER = 80 # 80 ms
+
+KEY_CODES = {
+        'hover': 'muf008001t100020y000000p000000d', \
+        'forward': 'mff008001t100020y000000p063005d', \
+        'backward': 'mbf008001t100020y000000p015003d', \
+        'left': 'mlf008001t100020y127004p000000d', \
+        'right': 'mrf008001t100020y000008p000000d', \
+        'land': 'O', \
+}
 
 
@@ -93 +103 @@
                 self.device_pyramid = None
                 
-                self.configuration = configuration
+                #self.configuration = configuration
                 
                 self.name = "Robotics-Car-Demo"
@@ -186 +196 @@
                         init_rts_cts_flow_control = 0
                 
-                self.device_stepper = serial.Serial(port = self.serial_port_stepper, \
-                                            baudrate = baudrate, \
-                                            bytesize = init_byte_size, \
-                                            parity = init_parity, \
-                                            stopbits = init_stopbits, \
-                                            xonxoff = init_software_flow_control, \
-                                            rtscts = init_rts_cts_flow_control, \
-                                            timeout = timeout)
+                #self.device_stepper = serial.Serial(port = self.serial_port_stepper, \
+                                            ##baudrate = baudrate, \
+                                            ##bytesize = init_byte_size, \
+                                            ##parity = init_parity, \
+                                            ##stopbits = init_stopbits, \
+                                            ##xonxoff = init_software_flow_control, \
+                                            ##rtscts = init_rts_cts_flow_control, \
+                                            ##timeout = timeout)
                 
                 self.device_pyramid = serial.Serial(port = self.serial_port_pyramid, \
@@ -203 +213 @@
                                             rtscts = init_rts_cts_flow_control, \
                                             timeout = timeout)
+                
                 #self.land()
+                self.left()
                 
                 time.sleep(ARDUINO_INITIALIZATION_TIME)
@@ -239 +251 @@
                 # Issue command
                 if self.DEBUG:
-                        print '--> [TAG] Land ("O")'
+                        print '--> [%s] Land ("O")' % TAG
                 
                 self.command_queue.append("O")
-                #self.device.write("O")
+                #self.device_pyramid.write("O")
+        
+        
+        ##################################################################
+        
+        def left(self):
+                
+                "Drive left"
+                
+                # Issue command
+                if self.DEBUG:
+                        print '--> [%s] Left ("mlf008001t100020y127004p000000d")' % TAG
+                
+                self.command_queue.append("mlf008001t100020y127004p000000d")
+                #self.device_pyramid.write("O")
+        
+        
+        ##################################################################
+        
+        def right(self):
+                
+                "Drive right"
+                
+                # Issue command
+                if self.DEBUG:
+                        print '--> [%s] Left ("mrf008001t100020y000008p000000d")' % TAG
+                
+                self.command_queue.append("mrf008001t100020y000008p000000d")
+                #self.device_pyramid.write("O")
         
         
@@ -264 +304 @@
                 
                 if self.DEBUG:
-                        print "--> [TAG] Sending Orbit Command:",
+                        print "--> [%s] Sending Orbit Command:" % TAG,
                         print command
                 
@@ -385 +425 @@
                         self.land()
                 
-                else:
-                        self.device.write(command)
+                elif (command =='left'):
+                        self.left()
+                
+                elif (command == 'right'):
+                        self.right()
+                
+                
+                else:
+                        self.device_pyramid.write(command)
+        
+        
+        ##################################################################
+        
+        def cycleTest(self):
+                
+                print "cycleTest(On)"
+                print "..."
+                self.serial_port_pyramid.write('P\n')
+                print "written: P\r"
+                #QtCore.QThread.msleep(1000)
+                time.sleep(1)
+                
+                print "cycleTest(Off)"
+                self.serial_port_pyramid.write('O\n')
+                print "written: O\r"
+                #QtCore.QThread.msleep(1000)
+                time.sleep(1)
+        
+        
+        ##################################################################
+        
+        def cycleDemo(self):
+                
+                print "cycleDemo()"
+                
+                self.serial_port_stepper.write('r090\r')
+                self.serial_port_pyramid.write(KEY_CODES['right'] + '\r')
+                
+                self.serial_port_stepper.write('l090\r')
+                QtCore.QThread.msleep(1000)
+                self.serial_port_pyramid.write(KEY_CODES['left'] + '\r')
+                QtCore.QThread.msleep(1000)
         
         
@@ -394 +474 @@
                 
                 while self.keep_running:
+                        
+                        #self.cycleDemo()
+                        
+                        #self.cycleTest()
+                        
                         
                         #if self.command_queue != []:
@@ -460 +545 @@
         
         # Collect default settings and command line parameters
-        device = DEFAULT_SERIAL_DEVICE
+        device = DEFAULT_SERIAL_DEVICE_PYRAMID
         mode = DEFAULT_MODE
         command = DEFAULT_COMMAND