def motorOutput(self, v, w):
# traceback.print_stack()
if self.acceptMotorCmds:
self.trans.set(clip(v, -MAX_TRANS, MAX_TRANS))
self.rot.set(clip(w, -MAX_ROT, MAX_ROT))
if (not self.asynchronous):
self.update()
def motorOutput(self, v, w):
# traceback.print_stack()
if self.acceptMotorCmds:
self.trans.set(clip(v, -MAX_TRANS, MAX_TRANS))
self.rot.set(clip(w, -MAX_ROT, MAX_ROT))
if (not self.asynchronous):
self.update()
def color(self, scalar = GARBAGE):
try:
ind = int(clip(int(len(self.colormap)*(scalar-self.func.min)/(self.func.max-self.func.min)), 0, len(self.colormap)-1))
except AttributeError:
return self.colormap[0]
except TypeError:
return self.colormap[0]
return self.colormap[ind]
def color(self, scalar = GARBAGE):
try:
ind = int(clip(int(len(self.colormap)*(scalar-self.func.min)/(self.func.max-self.func.min)), 0, len(self.colormap)-1))
except AttributeError:
return self.colormap[0]
except TypeError:
return self.colormap[0]
return self.colormap[ind]
def __init__(self, startup = common.skip):
"""The main hook to start the form GUI. This doesn't exit until the end of the program since it calls Tk's mainloop, but it's ok, since we are in a class, we just assign self to a __builtin__ name. This becomes app."""
__builtins__['app'] = self
self.commands = formulae.FormulaPool()
#try:
# self.command_listener = listener.CommandListener(settings.COMMAND_PORT,
# self.commands)
# self.command_listener.start()
#except:
# pass # for now..
tk_enqueue(self.setUpInterface)
tk_enqueue(startup)
tk.after(int(common.clip(GUI_FPMS_INVERSE,0,GUI_FPMS_INVERSE)),
tk_update)
tk.mainloop()
return 0
def __init__(self, startup=common.skip):
"""The main hook to start the form GUI. This doesn't exit until the end of the program since it calls Tk's mainloop, but it's ok, since we are in a class, we just assign self to a __builtin__ name. This becomes app."""
__builtins__['app'] = self
self.commands = formulae.FormulaPool()
#try:
# self.command_listener = listener.CommandListener(settings.COMMAND_PORT,
# self.commands)
# self.command_listener.start()
#except:
# pass # for now..
tk_enqueue(self.setUpInterface)
tk_enqueue(startup)
tk.after(int(common.clip(GUI_FPMS_INVERSE, 0, GUI_FPMS_INVERSE)),
tk_update)
tk.mainloop()
return 0
def motorOutput(self, v, w):
if TELEPORT_PROB > 0:
if random() < TELEPORT_PROB:
newPose = TELEPORT_DIST.draw()
print 'Teleporting to', newPose
self.abspose.set(newPose)
if CAP_ACC:
(oldTrans, oldRot) = (self.v.get(), self.w.get())
transDiff = clip(v-oldTrans,-TRANS_ACC, TRANS_ACC)
rotDiff = clip(w-oldRot,-ROT_ACC,ROT_ACC)
self.v.set(clip(oldTrans+transDiff, -MAX_TRANS, MAX_TRANS))
self.w.set(clip(oldRot+rotDiff, -MAX_ROT, MAX_ROT))
else:
self.v.set(clip(v, -MAX_TRANS, MAX_TRANS))
self.w.set(clip(w, -MAX_ROT, MAX_ROT))
def motorOutput(self, v, w):
if TELEPORT_PROB > 0:
if random() < TELEPORT_PROB:
newPose = TELEPORT_DIST.draw()
print 'Teleporting to', newPose
self.abspose.set(newPose)
if CAP_ACC:
(oldTrans, oldRot) = (self.v.get(), self.w.get())
transDiff = clip(v - oldTrans, -TRANS_ACC, TRANS_ACC)
rotDiff = clip(w - oldRot, -ROT_ACC, ROT_ACC)
self.v.set(clip(oldTrans + transDiff, -MAX_TRANS, MAX_TRANS))
self.w.set(clip(oldRot + rotDiff, -MAX_ROT, MAX_ROT))
else:
self.v.set(clip(v, -MAX_TRANS, MAX_TRANS))
self.w.set(clip(w, -MAX_ROT, MAX_ROT))
def analogOutput(self, v):
self.analogOut.set(clip(v, 0.0, 10.0))
def analogOutput(self, v): self.analogOut.set(clip(v, 0.0, 10.0))
