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* Cosmetics * Harmonograph demo * Cleanup * Original * Original * Cosmetics * Original file * Fixes * cosmetics * separate classes * Cosmetics * Cosmetics * fix tests * Remove plotter tests * Add bluegiga * Rename it * Progress * Fix tests * Cosmetics * Found a way for pygatt! * Playing with gatt * Fix hung subscribe * rename class * add test * skeleton for autodetect * safer order * Fix tests * Fix test * Add dbus install * another try * 2 * 3 * 34 * 6 * 7 * Isolate some tests * 8 * back to roots * Try more * 9 * Help * rep * site-packs * Fix? * Py3 come on * dbus * busss * dev null! * Fix test * Cleanup * Fix tests * Fix after review * add package * FIx package paths * Cosmetics * Update * More doc
266 lines
6.4 KiB
Python
266 lines
6.4 KiB
Python
# coding=utf-8
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import logging
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import time
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import traceback
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from examples.plotter import Plotter
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from pylgbst import get_connection_auto
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from pylgbst.comms import DebugServerConnection
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from pylgbst.movehub import EncodedMotor, PORT_AB, PORT_C, PORT_A, PORT_B, MoveHub
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from tests import HubMock
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def moves():
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plotter.move(-FIELD_WIDTH, 0)
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plotter.move(FIELD_WIDTH * 2, 0)
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plotter.move(-FIELD_WIDTH, 0)
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plotter.move(FIELD_WIDTH, FIELD_WIDTH)
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plotter.move(-FIELD_WIDTH, -FIELD_WIDTH)
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plotter.move(0, FIELD_WIDTH)
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plotter.move(0, -FIELD_WIDTH)
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def cross():
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plotter.line(FIELD_WIDTH, FIELD_WIDTH)
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plotter.move(-FIELD_WIDTH, 0)
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plotter.line(FIELD_WIDTH, -FIELD_WIDTH)
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def square():
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plotter.line(FIELD_WIDTH, 0)
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plotter.line(0, FIELD_WIDTH)
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plotter.line(-FIELD_WIDTH, 0)
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plotter.line(0, -FIELD_WIDTH)
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def triangle():
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plotter.line(FIELD_WIDTH, 0)
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plotter.line(0, FIELD_WIDTH)
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plotter.line(-FIELD_WIDTH, -FIELD_WIDTH)
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def romb():
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plotter.move(-FIELD_WIDTH, 0)
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plotter.line(FIELD_WIDTH, FIELD_WIDTH * 2)
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plotter.line(FIELD_WIDTH, -FIELD_WIDTH * 2)
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plotter.line(-FIELD_WIDTH, -FIELD_WIDTH * 2)
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plotter.line(-FIELD_WIDTH, FIELD_WIDTH * 2)
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def circles():
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plotter.move(FIELD_WIDTH / 4.0, 0)
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plotter.circle(FIELD_WIDTH / 2.0)
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plotter.move(FIELD_WIDTH / 2.0, 0)
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plotter.circle(FIELD_WIDTH)
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def square_spiral():
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rounds = 5
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step = plotter.base_speed / rounds / 5.0
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for r in range(1, rounds):
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plotter.line(step * r * 4, 0)
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plotter.line(0, step * (r * 4 + 1))
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plotter.line(-step * (r * 4 + 2), 0)
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plotter.line(0, -step * (r * 4 + 3))
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plotter.line(step * 2.0, step * 2.0) # cut
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def christmas_tree():
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t = FIELD_WIDTH / 3
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plotter.line(t, t)
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plotter.line(-t * 0.5, 0)
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plotter.line(t, t)
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plotter.line(-t * 0.5, 0)
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plotter.line(t, t)
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plotter.line(-t * 3.5, 0)
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plotter.line(t, -t)
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plotter.line(-t * 0.5, 0)
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plotter.line(t, -t)
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plotter.line(-t * 0.5, 0)
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plotter.line(t, -t)
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def try_speeds():
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speeds = [x * 1.0 / 10.0 for x in range(1, 11)]
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for s in speeds:
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logging.info("%s", s)
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plotter.both.constant(s, -s)
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time.sleep(1)
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for s in reversed(speeds):
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logging.info("%s", s)
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plotter.both.constant(-s, s)
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time.sleep(1)
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def snowflake(scale=1.0):
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a = [300, 232,
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351, 144,
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307, 68,
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350, 45,
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379, 94,
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413, 36,
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456, 61,
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422, 119,
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482, 118,
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481, 167,
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394, 168,
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343, 256,
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444, 256,
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488, 179,
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530, 204,
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500, 256,
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569, 256,
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582, 280]
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prev = None
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vals = []
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maxval = 0
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for i in range(0, len(a)):
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if i % 2:
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continue
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maxval = max(maxval, abs(a[i]), abs(a[i + 1]))
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if prev:
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vals.append((a[i] - prev[0], a[i + 1] - prev[1]))
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prev = a[i], a[i + 1]
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assert len(vals) == len(a) / 2 - 1
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vals = [(x[0] / float(maxval), x[1] / float(maxval)) for x in vals]
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logging.info("Moves: %s", vals)
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zoom = FIELD_WIDTH * scale
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for item in vals:
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plotter.line(item[0] * zoom, item[1] * zoom)
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for item in reversed(vals):
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plotter.line(-item[0] * zoom, item[1] * zoom)
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for item in vals:
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plotter.line(-item[0] * zoom, -item[1] * zoom)
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for item in reversed(vals):
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plotter.line(item[0] * zoom, -item[1] * zoom)
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plotter.line(0.05 * zoom, 0)
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def angles_experiment():
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parts = 2
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for x in range(0, parts + 1):
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movy = x * 1.0 / parts
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plotter.line(1.0, movy)
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plotter.move(-1.0, -movy)
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logging.info("%s", movy)
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for x in range(0, parts):
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movx = x * 1.0 / parts
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plotter.line(movx, 1.0)
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plotter.move(-movx, -1.0)
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logging.info("%s", movx)
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"""
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path = 1000
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spd_b = x * plotter.base_speed / parts
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spd_a = plotter.base_speed - spd_b
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angle = path * (1.0 + spd_b / spd_a)
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logging.info("%s, %s, %s", angle, spd_a, spd_b)
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plotter.motor_AB.angled(angle, spd_a, -spd_b)
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plotter._compensate_wheels_backlash(-1)
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plotter.motor_AB.angled(-angle, spd_a, -spd_b)
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plotter._compensate_wheels_backlash(1)
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"""
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class MotorMock(EncodedMotor):
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def _wait_sync(self, async):
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super(MotorMock, self)._wait_sync(True)
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def get_hub_mock():
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hub = HubMock()
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hub.motor_A = MotorMock(hub, PORT_A)
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hub.motor_B = MotorMock(hub, PORT_B)
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hub.motor_AB = MotorMock(hub, PORT_AB)
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hub.motor_external = MotorMock(hub, PORT_C)
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return hub
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def interpret_command(cmd, plotter):
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scale = 0.075
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for c in cmd.lower():
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if c == u'л':
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plotter._transfer_to(-scale, 0)
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elif c == u'п':
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plotter._transfer_to(scale, 0)
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elif c == u'н':
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plotter._transfer_to(0, -scale)
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elif c == u'в':
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plotter._transfer_to(0, scale)
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elif c == u'1':
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plotter._tool_down()
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elif c == u'0':
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plotter._tool_up()
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elif c == u' ':
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pass
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else:
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logging.warning(u"Неизвестная команда: %s", c)
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if __name__ == '__main__':
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logging.basicConfig(level=logging.DEBUG)
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logging.getLogger('').setLevel(logging.DEBUG)
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try:
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conn = DebugServerConnection()
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except BaseException:
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logging.warning("Failed to use debug server: %s", traceback.format_exc())
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conn = get_connection_auto()
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hub = MoveHub(conn) if 1 else get_hub_mock()
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plotter = Plotter(hub, 0.75)
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FIELD_WIDTH = 0.9
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try:
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"""
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while True:
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cmd = six.moves.input("программа> ").decode('utf8')
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if not cmd.strip():
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continue
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plotter.initialize()
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interpret_command(cmd, plotter)
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plotter.finalize()
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"""
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time.sleep(1)
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plotter.initialize()
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# snowflake(0.75)
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# christmas_tree()
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# square_spiral()
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# lego(plotter, FIELD_WIDTH / 7.0)
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# plotter._tool_down()
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# angles_experiment()
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# try_speeds()
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# moves()
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# triangle()
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# square()
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# cross()
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# romb()
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# circles()
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# plotter.spiral(4, 0.02)
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# plotter.rectangle(FIELD_WIDTH / 5.0, FIELD_WIDTH / 5.0, solid=True)
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pass
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finally:
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plotter.finalize()
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