def __init__(self, name, id, linear_speed, angular_speed):
# Names each robot
self.name = name
self.id = id
# Currenet Speed of bot this is set in the motor library for now
self.current_speed = 0
# Batttery Charge amount from 0 to 1
self.battery_charge = 1
# Linear Speed in meters per second
self.linear_speed = linear_speed
# Angular Speed in radians per second
self.angular_speed = angular_speed
self.mc = motorControl.MotorControl()
def __init__(self, parent, id, title):
wx.Frame.__init__(self, parent, id, title, wx.DefaultPosition, (800, 600))
hbox= wx.BoxSizer(wx.HORIZONTAL)
vbox = wx.BoxSizer(wx.VERTICAL)
hboxcontrols = wx.BoxSizer(wx.HORIZONTAL)
hboxlist = wx.BoxSizer(wx.HORIZONTAL)
vbox.Add(hboxcontrols, 1, wx.EXPAND)
vbox.Add(hboxlist, 1, wx.EXPAND)
#comment load motor and load led when working on gui
#load motor
motorSettings = settings.MotorSettings().get()
self.motorController = motorControl.MotorControl(motorSettings)
self.motorController.setAllSpeed(100)
#parse motor setting to get min and max angle, store result in hash motors
motors = {}
motorsConfig=motorSettings["motorConfig"]
for motor in motorsConfig:
motors[motor[3]] = [motor[1], motor[2]]
#load led
self.ledController = python2arduino.Arduino()
#uncomment when working on gui
#motors = {"bowl": [0, 150], "bottom": [0, 150], "mid": [0, 150], "top": [0, 150], "head": [0, 150]}
#visual element
#bowl button
pnlBowl = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlBowl, 1, wx.ALL |wx.EXPAND, 1)
self.sldBowl = wx.Slider(pnlBowl, -1, motors["bowl"][0], motors["bowl"][0], motors["bowl"][1], wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textBowl = wx.StaticText(pnlBowl, -1, 'Bowl')
vboxBowl = wx.BoxSizer(wx.VERTICAL)
vboxBowl.Add(self.sldBowl, 1, wx.CENTER, 0)
vboxBowl.Add(textBowl, 1, wx.CENTER)
pnlBowl.SetSizer(vboxBowl)
#bottom button
pnlBottom = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlBottom, 1, wx.ALL | wx.EXPAND, 1)
self.sldBottom = wx.Slider(pnlBottom, -1, motors["bottom"][1], motors["bottom"][0], motors["bottom"][1], wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textBottom = wx.StaticText(pnlBottom, -1, 'Bottom')
vboxBottom = wx.BoxSizer(wx.VERTICAL)
vboxBottom.Add(self.sldBottom, 1, wx.CENTER)
vboxBottom.Add(textBottom, 1, wx.CENTER)
pnlBottom.SetSizer(vboxBottom)
#middle button
pnlMiddle = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlMiddle, 1, wx.ALL | wx.EXPAND, 1)
self.sldMiddle = wx.Slider(pnlMiddle, -1, motors["mid"][0], motors["mid"][0], motors["mid"][1], wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textMiddle = wx.StaticText(pnlMiddle, -1, 'Middle')
vboxMiddle= wx.BoxSizer(wx.VERTICAL)
vboxMiddle.Add(self.sldMiddle, 1, wx.CENTER)
vboxMiddle.Add(textMiddle, 1, wx.CENTER)
pnlMiddle.SetSizer(vboxMiddle)
#top button
pnlTop = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlTop, 1, wx.ALL | wx.EXPAND, 1)
self.sldTop = wx.Slider(pnlTop, -1, motors["top"][0], motors["top"][0], motors["top"][1], wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textTop = wx.StaticText(pnlTop, -1, 'Top')
vboxTop = wx.BoxSizer(wx.VERTICAL)
vboxTop.Add(self.sldTop, 1, wx.CENTER)
vboxTop.Add(textTop, 1, wx.CENTER)
pnlTop.SetSizer(vboxTop)
#head button
pnlHead = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlHead, 1, wx.ALL | wx.EXPAND, 1)
self.sldHead = wx.Slider(pnlHead, -1, motors["head"][0], motors["head"][0], motors["head"][1], wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textHead = wx.StaticText(pnlHead, -1, 'Head')
vboxHead = wx.BoxSizer(wx.VERTICAL)
vboxHead.Add(self.sldHead, 1, wx.CENTER)
vboxHead.Add(textHead, 1, wx.CENTER)
pnlHead.SetSizer(vboxHead)
#red button
pnlRed = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlRed, 1, wx.ALL | wx.EXPAND, 1)
self.sldRed = wx.Slider(pnlRed, -1, 0, 0, 255, wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textRed = wx.StaticText(pnlRed, -1, 'Red')
vboxRed = wx.BoxSizer(wx.VERTICAL)
vboxRed.Add(self.sldRed, 1, wx.CENTER)
vboxRed.Add(textRed, 1, wx.CENTER)
pnlRed.SetSizer(vboxRed)
#green button
pnlGreen = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlGreen, 1, wx.ALL | wx.EXPAND, 1)
self.sldGreen = wx.Slider(pnlGreen, -1, 0, 0, 255, wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textGreen = wx.StaticText(pnlGreen, -1, 'Green')
vboxGreen = wx.BoxSizer(wx.VERTICAL)
vboxGreen.Add(self.sldGreen, 1, wx.CENTER)
vboxGreen.Add(textGreen, 1, wx.CENTER)
pnlGreen.SetSizer(vboxGreen)
#blue button
pnlBlue = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
hboxcontrols.Add(pnlBlue, 1, wx.ALL | wx.EXPAND, 1)
self.sldBlue = wx.Slider(pnlBlue, -1, 0, 0, 255, wx.DefaultPosition, (-1, -1), wx.SL_VERTICAL | wx.SL_LABELS)
textBlue = wx.StaticText(pnlBlue, -1, 'Blue')
vboxBlue = wx.BoxSizer(wx.VERTICAL)
vboxBlue.Add(self.sldBlue, 1, wx.CENTER)
vboxBlue.Add(textBlue, 1, wx.CENTER)
pnlBlue.SetSizer(vboxBlue)
#buttons
pnlButtons = wx.Panel(self, -1, style=wx.SIMPLE_BORDER)
vboxButton = wx.BoxSizer(wx.VERTICAL)
gotoButton = wx.Button(pnlButtons, 7, 'Go To')
vboxButton.Add(gotoButton, 1, wx.ALIGN_CENTER | wx.TOP, 15)
wx.EVT_BUTTON(self, 7, self.OnGoto)
savePositionButton = wx.Button(pnlButtons, 8, 'Save to list')
vboxButton.Add(savePositionButton, 1, wx.ALIGN_CENTER | wx.TOP, 15)
wx.EVT_BUTTON(self, 8, self.OnSavePosition)
deletePositionButton = wx.Button(pnlButtons, 9, 'Delete from list')
vboxButton.Add(deletePositionButton, 1, wx.ALIGN_CENTER | wx.TOP, 15)
wx.EVT_BUTTON(self, 9, self.OnDeletePosition)
playButton = wx.Button(pnlButtons, 10, 'Play')
vboxButton.Add(playButton, 1, wx.ALIGN_CENTER | wx.TOP, 15)
wx.EVT_BUTTON(self, 10, self.OnPlay)
stopButton = wx.Button(pnlButtons, 11, 'Stop')
vboxButton.Add(stopButton, 1, wx.ALIGN_CENTER | wx.TOP | wx.BOTTOM, 15)
wx.EVT_BUTTON(self, 11, self.OnStop)
pnlButtons.SetSizer(vboxButton)
#list of position
self.positionList = wx.ListCtrl(self, -1, style=wx.LC_REPORT)
self.positionList.InsertColumn(0, 'bowl')
self.positionList.InsertColumn(1, 'bottom')
self.positionList.InsertColumn(2, 'middle')
self.positionList.InsertColumn(3, 'top')
self.positionList.InsertColumn(4, 'head')
self.positionList.InsertColumn(5, 'red')
self.positionList.InsertColumn(6, 'green')
self.positionList.InsertColumn(7, 'blue')
hboxlist.Add(self.positionList, 1, wx.EXPAND)
hbox.Add(vbox, 5, wx.EXPAND | wx.ALL, 1)
hbox.Add(pnlButtons, 1, wx.EXPAND | wx.ALL, 1)
self.SetSize((800, 600))
self.SetSizer(hbox)
self.Centre()
import sleep sys.path.insert(0,"../control/") import motorControl import cameraControl sys.path.insert(0,"../computerVision/") import FaceDetection sys.path.insert(0,"../settings/") import settings import time sys.path.insert(0, "../arduino/") import python2arduino import cv2 #Chargement du bras controlé motorSettings = settings.MotorSettings() motorControler = motorControl.MotorControl(motorSettings.get()) #Chargement du joystick joystickSettings = settings.MotorSettings() joystickControler = motorControl.Control(motorSettings.get()) #Activation de la caméra pour avoir un retour du robot faceStream = FaceDetection.FaceStream(0) #Camera precision = 0.1 res = [360,240] apertureAngle = [50.,30.] exit = False
except Exception as e: print "ERROR: TRICOLOUR LEDS Unexpected error:", e #exitFlag = 1 """ try: # Creates instances 7-segment display display = led7.led7() display.clean() except Exception as e: print "ERROR: 7-SEGMENT DISPLAY Unexpected error:", e #sys.exc_info()[0] #exitFlag = 1 """ try: # Creates instances robot bot = motorControl.MotorControl(i2cBus) bot.stopBot() except Exception as e: print "ERROR: BOT Unexpected error:", e #exitFlag = 1 try: # Create a TCP/IP socket server = socket.socket(socket.AF_INET, socket.SOCK_STREAM) server.setblocking(0) except socket.error as msg: server = None print "ERROR: Create socket %s" % msg try: # Bind it to TCP address and port
def __init__(self, settingPath=None, debug=False):
if settingPath != None:
motorSettings = settings.MotorSettings(settingPath)
else:
motorSettings = settings.MotorSettings()
self.motorControl = motorControl.MotorControl(motorSettings.get())
