def main(): joystick = init_joystick() device = hamr_serial.initialize(port, baudrate, timeout_=2, write_timeout_=2) hamr_serial.connect(device) time.sleep(1) # device.write(b'1') # device.write(b'1') sig_r_prev = 0 sig_l_prev = 0 sig_t_prev = 0 while (True): time.sleep(.1) commands = get_readings(joystick, 0) # obtain signals x = commands[0] # left/right y = -commands[1] # forward/backward theta = commands[2] # rotation # round signals sig_r = str(int(y * 10) / 10.0) sig_l = str(int(x * 10) / 10.0) sig_t = str(int(theta * 10) / 10.0) # send data to HAMR if (sig_r != sig_r_prev or sig_t != sig_t_prev): sending = "" if device.is_open: sending = "sending:" device.write(SIG_R_MOTOR) device.write(sig_r) time.sleep(.1) # uncomment this part to send these signals # device.write(SIG_L_MOTOR) # device.write(sig_l) # time.sleep(.1) device.write(SIG_T_MOTOR) device.write(sig_t) time.sleep(.1) sig_r_prev = sig_t sig_l_prev = sig_l sig_t_prev = sig_r print sending + sig_r + ", " + sig_t
def main(): joystick = init_joystick() device = hamr_serial.initialize(port, baudrate, timeout_=2, write_timeout_=2) hamr_serial.connect(device) time.sleep(1) # device.write(b'1') # device.write(b'1') sig_r_prev = 0 sig_l_prev = 0 sig_t_prev = 0 while (True): time.sleep(.1) commands = get_readings(joystick, 0) # obtain signals x = commands[0] # left/right y = -commands[1] # forward/backward theta = commands[2] # rotation # round signals sig_r = str(int(y * 10) / 10.0) sig_l = str(int(x * 10) / 10.0) sig_t = str(int(theta * 10) / 10.0) # send data to HAMR if(sig_r != sig_r_prev or sig_t != sig_t_prev): sending = "" if device.is_open: sending = "sending:" device.write(SIG_R_MOTOR) device.write(sig_r) time.sleep(.1) # uncomment this part to send these signals # device.write(SIG_L_MOTOR) # device.write(sig_l) # time.sleep(.1) device.write(SIG_T_MOTOR) device.write(sig_t) time.sleep(.1) sig_r_prev = sig_t sig_l_prev = sig_l sig_t_prev = sig_r print sending + sig_r + ", " + sig_t
def connect_arduino(): if not hamr_serial.connect(device): print "Connection Failed" return button_connect.label.set_text("Disconnect") xdata = np.zeros(DATA_SIZE) for y in ydata: y[:] = None print "Connected Succesfully"
def initialize_hamr(): global device device = hamr_serial.initialize(port, baudrate, timeout_=2, write_timeout_=2) hamr_serial.connect(device) time.sleep(1)