class Control(cmd.Cmd):
"""Parse robot commands and apply them. Does no real error checking."""
def __init__(self):
cmd.Cmd.__init__(self);
self.points = [];
self.ready = False;
self.motor = None;
def do_move(self, line):
"""move x, y, z, power
Go to lego coordinates.
"""
x, y, z, p = line.split();
coord = LegoCoord(int(x), int(y), int(z)).to_delta();
if self.motor is None:
print "No connection.";
else:
self.delta.move_to_coord(coord, int(p));
def do_set_points(self, line):
"""set_points [x, y, z; ...]
Set the points to draw at. """
try:
tmp_points = [];
c = 0;
# Parse tuple and create lego coordinate
for xyz in line[1:-1].split(';'):
x, y, z = ast.literal_eval(xyz.strip());
print x;
tmp_points.append(LegoCoord(x, y, z));
c += 1;
# Store new list and set ready to run
self.points = tmp_points;
self.ready = True;
print repr(c) + " Point[s] Set";
except Exception as err:
print "Invalid Syntax";
def do_clear_points(self, line):
"""clear_points
Clear all set points. """
self.points = [];
self.ready = False;
print "Points Cleared";
def do_run(self, line):
"""run [time]
Travel through the requested positions. """
if not self.ready or self.motor is None:
print "Missing connection or points."
return
# Convert points to targets
targets = map(lambda x: Target(x, self.points), self.points);
# Sort targets to reduce travel distance
sorted = target.sort(targets, START);
# Map each target into its steps
steps = range(len(self.points));
for x in range(len(self.points)):
if x == 0:
steps[x] = sorted[x].get_moves(START, 1);
else:
steps[x] = sorted[x].get_moves(sorted[x-1].delta_coord, 1);
steps2 = range(len(self.points));
for x in range(len(self.points)):
if x == 0:
steps2[x] = sorted[x].get_moves(sorted[-1].delta_coord, 1);
else:
steps2[x] = sorted[x].get_moves(sorted[x-1].delta_coord, 1);
for x in range(2):
if x == 0:
for sublist in steps:
for coord, power in sublist:
self.delta.move_to_coord(coord, power);
print coord
else:
for sublist in steps2:
for coord, power in sublist:
self.delta.move_to_coord(coord, power);
print coord
self.delta.move_to_angles([-45, -45, -45]);
def do_connect(self, line):
"""connect
Connect to the delta.
"""
self.motor = Motors();
self.delta = Delta(self.motor);
def do_disconnect(self, line):
self.motor.close();
self.motor = None;
def do_exit(self, line):
if self.motor:
self.motor.close();
return True;
def do_EOF(self, line):
if self.motor:
self.motor.close();
return True;
def do_connect(self, line):
"""connect
Connect to the delta.
"""
self.motor = Motors();
self.delta = Delta(self.motor);
