mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
256 lines
5.6 KiB
Python
256 lines
5.6 KiB
Python
import logging
|
|
import time
|
|
import traceback
|
|
|
|
from examples.plotter import Plotter
|
|
from pylgbst.comms import DebugServerConnection, BLEConnection
|
|
|
|
|
|
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)
|
|
|
|
|
|
class LaserPlotter(Plotter):
|
|
|
|
def _tool_down(self):
|
|
super(LaserPlotter, self)._tool_down()
|
|
time.sleep(1)
|
|
|
|
|
|
def lego():
|
|
t = FIELD_WIDTH / 5.0
|
|
h = t * 5.0
|
|
w = t * 3.0
|
|
|
|
plotter.move(-t * 2.0, 0)
|
|
|
|
plotter.line(h, 0)
|
|
plotter.line(0, t)
|
|
plotter.line(-(h - t), 0)
|
|
plotter.line(0, 2 * t)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, -w)
|
|
|
|
plotter.move(0, w + t)
|
|
|
|
plotter.line(h, 0)
|
|
plotter.line(0, w)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, -2 * t)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, t)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, -t)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, 2 * t)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, -w)
|
|
|
|
plotter.move(0, w + t)
|
|
|
|
plotter.move(t, 0)
|
|
plotter.line(3 * t, 0)
|
|
plotter.line(t, t)
|
|
plotter.line(0, t)
|
|
plotter.line(-t, t)
|
|
plotter.line(-t, 0)
|
|
plotter.line(0, -t)
|
|
plotter.line(t, 0)
|
|
plotter.line(0, -t)
|
|
plotter.line(-3 * t, 0)
|
|
plotter.line(0, t)
|
|
plotter.line(t, 0)
|
|
plotter.line(0, t)
|
|
plotter.line(-3 * t, 0)
|
|
plotter.line(0, -t)
|
|
plotter.line(t, 0)
|
|
plotter.line(0, -t)
|
|
plotter.line(t, -t)
|
|
plotter.move(-t, 0)
|
|
|
|
plotter.move(0, w + t)
|
|
|
|
plotter.move(t, 0)
|
|
plotter.line(3 * t, 0)
|
|
plotter.line(t, t)
|
|
plotter.line(0, t)
|
|
plotter.line(-t, t)
|
|
plotter.line(-3 * t, 0)
|
|
plotter.line(-t, -t)
|
|
plotter.line(0, -t)
|
|
plotter.line(t, -t)
|
|
plotter.move(0, t)
|
|
plotter.line(3 * t, 0)
|
|
plotter.line(0, t)
|
|
plotter.line(-3 * t, 0)
|
|
plotter.line(0, -t)
|
|
|
|
|
|
def square_spiral():
|
|
rounds = 7
|
|
step = FIELD_WIDTH / 4.0 / rounds
|
|
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))
|
|
|
|
|
|
def christmas_tree():
|
|
t = FIELD_WIDTH / 5
|
|
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.motor_AB.constant(s, -s)
|
|
time.sleep(1)
|
|
for s in reversed(speeds):
|
|
logging.info("%s", s)
|
|
plotter.motor_AB.constant(-s, s)
|
|
time.sleep(1)
|
|
|
|
|
|
def snowflake():
|
|
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 * 2.0
|
|
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)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
logging.basicConfig(level=logging.INFO)
|
|
|
|
try:
|
|
conn = DebugServerConnection()
|
|
except BaseException:
|
|
logging.warning("Failed to use debug server: %s", traceback.format_exc())
|
|
conn = BLEConnection().connect()
|
|
|
|
plotter = LaserPlotter(conn, 0.75)
|
|
FIELD_WIDTH = plotter.field_width
|
|
|
|
try:
|
|
plotter.initialize()
|
|
|
|
# plotter._tool_down()
|
|
|
|
# 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)
|
|
|
|
# square_spiral()
|
|
# lego()
|
|
# christmas_tree()
|
|
snowflake()
|
|
pass
|
|
finally:
|
|
plotter.finalize()
|