# coding=utf-8
import logging
import time
import traceback
import six
from examples.plotter import Plotter
from pylgbst import get_connection_auto
from pylgbst.comms import DebugServerConnection
from pylgbst.movehub import EncodedMotor, PORT_AB, PORT_C, PORT_A, PORT_B, MoveHub
from tests import HubMock
def moves():
plotter.move(-FIELD_WIDTH, 0)
plotter.move(FIELD_WIDTH * 2, 0)
plotter.move(-FIELD_WIDTH, 0)
plotter.move(FIELD_WIDTH, FIELD_WIDTH)
plotter.move(-FIELD_WIDTH, -FIELD_WIDTH)
plotter.move(0, FIELD_WIDTH)
plotter.move(0, -FIELD_WIDTH)
def cross():
plotter.line(FIELD_WIDTH, FIELD_WIDTH)
plotter.move(-FIELD_WIDTH, 0)
plotter.line(FIELD_WIDTH, -FIELD_WIDTH)
def square():
plotter.line(FIELD_WIDTH, 0)
plotter.line(0, FIELD_WIDTH)
plotter.line(-FIELD_WIDTH, 0)
plotter.line(0, -FIELD_WIDTH)
def triangle():
plotter.line(FIELD_WIDTH, 0)
plotter.line(0, FIELD_WIDTH)
plotter.line(-FIELD_WIDTH, -FIELD_WIDTH)
def romb():
plotter.move(-FIELD_WIDTH, 0)
plotter.line(FIELD_WIDTH, FIELD_WIDTH * 2)
plotter.line(FIELD_WIDTH, -FIELD_WIDTH * 2)
plotter.line(-FIELD_WIDTH, -FIELD_WIDTH * 2)
plotter.line(-FIELD_WIDTH, FIELD_WIDTH * 2)
def circles():
plotter.move(FIELD_WIDTH / 4.0, 0)
plotter.circle(FIELD_WIDTH / 2.0)
plotter.move(FIELD_WIDTH / 2.0, 0)
plotter.circle(FIELD_WIDTH)
def square_spiral():
rounds = 5
step = plotter.base_speed / rounds / 5.0
for r in range(1, rounds):
plotter.line(step * r * 4, 0)
plotter.line(0, step * (r * 4 + 1))
plotter.line(-step * (r * 4 + 2), 0)
plotter.line(0, -step * (r * 4 + 3))
plotter.line(step * 2.0, step * 2.0) # cut
def christmas_tree():
t = FIELD_WIDTH / 3
plotter.line(t, t)
plotter.line(-t * 0.5, 0)
plotter.line(t, t)
plotter.line(-t * 0.5, 0)
plotter.line(t, t)
plotter.line(-t * 3.5, 0)
plotter.line(t, -t)
plotter.line(-t * 0.5, 0)
plotter.line(t, -t)
plotter.line(-t * 0.5, 0)
plotter.line(t, -t)
def try_speeds():
speeds = [x * 1.0 / 10.0 for x in range(1, 11)]
for s in speeds:
logging.info("%s", s)
plotter.both.constant(s, -s)
time.sleep(1)
for s in reversed(speeds):
logging.info("%s", s)
plotter.both.constant(-s, s)
time.sleep(1)
def snowflake(scale=1.0):
a = [300, 232,
351, 144,
307, 68,
350, 45,
379, 94,
413, 36,
456, 61,
422, 119,
482, 118,
481, 167,
394, 168,
343, 256,
444, 256,
488, 179,
530, 204,
500, 256,
569, 256,
582, 280]
prev = None
vals = []
maxval = 0
for i in range(0, len(a)):
if i % 2:
continue
maxval = max(maxval, abs(a[i]), abs(a[i + 1]))
if prev:
vals.append((a[i] - prev[0], a[i + 1] - prev[1]))
prev = a[i], a[i + 1]
assert len(vals) == len(a) / 2 - 1
vals = [(x[0] / float(maxval), x[1] / float(maxval)) for x in vals]
logging.info("Moves: %s", vals)
zoom = FIELD_WIDTH * scale
for item in vals:
plotter.line(item[0] * zoom, item[1] * zoom)
for item in reversed(vals):
plotter.line(-item[0] * zoom, item[1] * zoom)
for item in vals:
plotter.line(-item[0] * zoom, -item[1] * zoom)
for item in reversed(vals):
plotter.line(item[0] * zoom, -item[1] * zoom)
plotter.line(0.05 * zoom, 0)
def angles_experiment():
parts = 2
for x in range(0, parts + 1):
movy = x * 1.0 / parts
plotter.line(1.0, movy)
plotter.move(-1.0, -movy)
logging.info("%s", movy)
for x in range(0, parts):
movx = x * 1.0 / parts
plotter.line(movx, 1.0)
plotter.move(-movx, -1.0)
logging.info("%s", movx)
"""
path = 1000
spd_b = x * plotter.base_speed / parts
spd_a = plotter.base_speed - spd_b
angle = path * (1.0 + spd_b / spd_a)
logging.info("%s, %s, %s", angle, spd_a, spd_b)
plotter.motor_AB.angled(angle, spd_a, -spd_b)
plotter._compensate_wheels_backlash(-1)
plotter.motor_AB.angled(-angle, spd_a, -spd_b)
plotter._compensate_wheels_backlash(1)
"""
class MotorMock(EncodedMotor):
def _wait_sync(self, async):
super(MotorMock, self)._wait_sync(True)
def get_hub_mock():
hub = HubMock()
hub.motor_A = MotorMock(hub, PORT_A)
hub.motor_B = MotorMock(hub, PORT_B)
hub.motor_AB = MotorMock(hub, PORT_AB)
hub.motor_external = MotorMock(hub, PORT_C)
return hub
def interpret_command(cmd, plotter):
scale = 0.075
for c in cmd.lower():
if c == u'л':
plotter._transfer_to(-scale, 0)
elif c == u'п':
plotter._transfer_to(scale, 0)
elif c == u'н':
plotter._transfer_to(0, -scale)
elif c == u'в':
plotter._transfer_to(0, scale)
elif c == u'1':
plotter._tool_down()
elif c == u'0':
plotter._tool_up()
elif c == u' ':
pass
else:
logging.warning(u"Неизвестная команда: %s", c)
if __name__ == '__main__':
logging.basicConfig(level=logging.DEBUG)
logging.getLogger('').setLevel(logging.DEBUG)
try:
conn = DebugServerConnection()
except BaseException:
logging.warning("Failed to use debug server: %s", traceback.format_exc())
conn = get_connection_auto()
hub = MoveHub(conn) if 1 else get_hub_mock()
plotter = Plotter(hub, 0.75)
FIELD_WIDTH = 0.9
try:
"""
while True:
cmd = six.moves.input("программа> ").decode('utf8')
if not cmd.strip():
continue
plotter.initialize()
interpret_command(cmd, plotter)
plotter.finalize()
"""
time.sleep(1)
plotter.initialize()
# snowflake(0.75)
# christmas_tree()
# square_spiral()
# lego(plotter, FIELD_WIDTH / 7.0)
# plotter._tool_down()
# angles_experiment()
# try_speeds()
# moves()
# triangle()
# square()
# cross()
# romb()
# circles()
# plotter.spiral(4, 0.02)
# plotter.rectangle(FIELD_WIDTH / 5.0, FIELD_WIDTH / 5.0, solid=True)
pass
finally:
plotter.finalize()