from robot import Bot
from time import sleep
robot = Bot('/dev/tty.usbmodem5d11')
rest_angles = (30, 30, 30)
rest_position = robot.forward_k(30, 30, 30)
center_angles = (40, 40, 40)
center_position = robot.forward_k(40, 40, 40)
top_angles1 = robot.inverse_k(0, rest_position[2] + 100, rest_position[3])
top_angles2 = robot.inverse_k(0, center_position[2] + 100, center_position[3])
bottom_angles1 = robot.inverse_k(0, rest_position[2] - 100, rest_position[3])
bottom_angles2 = robot.inverse_k(0, center_position[2] - 100,
center_position[3])
right_angles1 = robot.inverse_k(rest_position[2] + 100, 0, rest_position[3])
right_angles2 = robot.inverse_k(center_position[2] + 100, 0,
center_position[3])
left_angles1 = robot.inverse_k(rest_position[2] - 100, 0, rest_position[3])
left_angles2 = robot.inverse_k(center_position[2] - 100, 0, center_position[3])
robot.set_position(rest_angles)
sleep(.5)
print 'Center'
robot.set_position(center_angles)
sleep(.5)
robot.set_position(rest_angles)
sleep(2)
print 'Top'
robot.set_position(top_angles1)
from robot import Bot
from time import sleep
robot = Bot('/dev/tty.usbmodem5d11')
rest_angles = (30,30,30)
rest_position = robot.forward_k(30,30,30)
center_angles = (40,40,40)
center_position = robot.forward_k(40,40,40)
top_angles1 = robot.inverse_k(0, rest_position[2]+100, rest_position[3])
top_angles2 = robot.inverse_k(0, center_position[2]+100, center_position[3])
bottom_angles1 = robot.inverse_k(0, rest_position[2]-100, rest_position[3])
bottom_angles2 = robot.inverse_k(0, center_position[2]-100, center_position[3])
right_angles1 = robot.inverse_k(rest_position[2]+100, 0, rest_position[3])
right_angles2 = robot.inverse_k(center_position[2]+100, 0, center_position[3])
left_angles1 = robot.inverse_k(rest_position[2]-100, 0, rest_position[3])
left_angles2 = robot.inverse_k(center_position[2]-100, 0, center_position[3])
robot.set_position(rest_angles)
sleep(.5)
print 'Center'
robot.set_position(center_angles)
sleep(.5)
robot.set_position(rest_angles)
sleep(2)
print 'Top'
robot.set_position(top_angles1)
sleep(.5)
robot.set_position(top_angles2)
def handle(self, *args, **options):
bot = Bot('localhost:8000', 'suap')
for message in bot.messages:
message.repply(message.text)
return None
coords = coords[0][1]
if len(coords) < 1 or ',' not in coords:
return None
return (int(coords.split(',')[0][1:].replace(' ','')), int(coords.split(',')[1][:-1].replace(' ','')) )
def print_usage():
print 'python calibrate.py UDID /dev/usb-port'
if len(argv) < 2 or not argv[2].startswith("/dev/"):
print_usage()
exit(-1)
# create a bot instance
print 'Making robot'
bot = Bot(argv[2])
# create an appium instance
print 'Launching Calibration App'
driver = appium.Appium('Appium.RobotCalibration', argv[1])
driver.start()
# lower the pen until the ios device is touched
current_point = starting_position
screen_center = None
print 'Entering Calibration Loop'
while current_point <= 80 and screen_center == None:
current_point += 1
# exit if we did not touch the ios device
if current_point > 80:
raise Exception("Could not contact the iOS device")
# setup appium
app.ios_client = Appium(args.app, args.UDID, args.verbose)
# setup robot (if necessary)
app.robot_usb_address = args.robot_usb_address
app.robot_calibration_file = args.robot_calibration_file
app.uses_robot = app.robot_usb_address is not None
if app.uses_robot:
if args.UDID is None:
raise Exception(
'Robots cannot be used with the simulator, please supply a UDID'
)
# TODO fix package situation so proper imports can be done
botpath = os.path.abspath(
os.path.join(
os.path.split(os.path.abspath(__file__))[0], 'robot',
'bitbeambot-d2'))
sys.path.append(botpath)
from robot import Bot
app.robot = Bot(app.robot_usb_address, app.robot_calibration_file)
if args.address is None:
try:
args.address = socket.gethostbyname(socket.gethostname())
except:
args.address = '127.0.0.1'
app.SESSION_ID = "%s:%d" % (args.address, args.port)
app.started = False
run(app, host=args.address, port=args.port)
return None
return (int(coords.split(',')[0][1:].replace(' ', '')),
int(coords.split(',')[1][:-1].replace(' ', '')))
def print_usage():
print 'python calibrate.py UDID /dev/usb-port'
if len(argv) < 2 or not argv[2].startswith("/dev/"):
print_usage()
exit(-1)
# create a bot instance
print 'Making robot'
bot = Bot(argv[2])
# create an appium instance
print 'Launching Calibration App'
driver = appium.Appium('Appium.RobotCalibration', argv[1])
driver.start()
# lower the pen until the ios device is touched
current_point = starting_position
screen_center = None
print 'Entering Calibration Loop'
while current_point <= 80 and screen_center == None:
current_point += 1
# exit if we did not touch the ios device
if current_point > 80:
raise Exception("Could not contact the iOS device")
