def full_calibrate(self):
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def full_calibrate(self):
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def full_calibrate(self):
#first, calibrate droplet spin for one direction. This will give us motor sign and relative values for the three motors.
#then calibrate directions 0, 2, and 4 (or 1, 3, and 5)
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def full_calibrate(self):
#first, calibrate droplet spin for one direction. This will give us motor sign and relative values for the three motors.
#then calibrate directions 0, 2, and 4 (or 1, 3, and 5)
timestamp = time.strftime('%m-%d_%H%M')
fileName = "data\\dmc_calib_" + timestamp
self.calibrate_both_spins(fileName)
self.calibrate_all_straight(fileName)
for i in range(2):
serial.write("cmd write_motor_settings")
print("!!!\nDone calibrating!\n!!!")
def process_and_transmit_line(line):
byte_strs = [str(line[i])+str(line[i+1]) for i in range(1,len(line)-1,2)]
byte_sum=0
for b in byte_strs:
byte_sum+=int(b,16)
byte_sum-=int(byte_strs[-1],16)
if(format(0xFF&((0xFF^(byte_sum & 0xFF))+1),'02X') != byte_strs[-1]):
print("checksum mismatch?")
print("\t" + format(0xFF&((0xFF^(byte_sum & 0xFF))+1),'02X'))
print("\t" + byte_strs[-1])
dat = ''.join([chr(int(b,16)) for b in byte_strs])
#print(dat)
Serial.write(dat)
def stop_walk():
serial.write("cmd stop_walk")
def move_steps(direction, num_steps):
serial.write("cmd move_steps %d %d"%(direction, num_steps))
def set_motors(direction, mot0val, mot1val, mot2val):
serial.write("cmd set_motors %d %d %d %d"%(direction, mot0val, mot1val, mot2val))
#Once more, just to be sure.
serial.write("cmd set_motors %d %d %d %d"%(direction, mot0val, mot1val, mot2val))
def set_led(r, g, b):
serial.write("cmd set_led rgb %d %d %d"%(r, g, b))
def stop_walk():
serial.write("cmd stop_walk")
def move_steps(direction, num_steps):
serial.write("cmd move_steps %d %d" % (direction, num_steps))
def set_motors(direction, mot0val, mot1val, mot2val):
serial.write("cmd set_motors %d %d %d %d" %
(direction, mot0val, mot1val, mot2val))
#Once more, just to be sure.
serial.write("cmd set_motors %d %d %d %d" %
(direction, mot0val, mot1val, mot2val))
def set_led(r, g, b):
serial.write("cmd set_led rgb %d %d %d" % (r, g, b))
