def __init__(self):
GPIO.setmode(GPIO.BOARD)
self._last_direction = 0
self.controller = GpioController()
self.controller.switch_callback = None
self.controller.rotary_callback = self.rotaryChange
self.controller.start()
def start_working(self, device):
try:
print('doing PickAndPlace')
if device == "RPI":
from Controller.GpioController import GpioController
gpio = GpioController()
gpio.initPins()
gpio.gpioControl('elbow_f', 1.1)
time.sleep(0.5)
# gpio.gpioControl('grip_f', 0.3)
# gpio.gpioControl('grip_b', 0.3)
# time.sleep(0.5)
gpio.gpioControl('elbow_b', 1.5)
time.sleep(0.5)
elif device == "LAPTOP":
time.sleep(1)
print('PickAndPlace finished..')
print('Replying to WT server...')
response = self.COMPLETED_MESSAGE
return response
except (ConnectionResetError, OSError) as e:
print(e)
def start_working(self, device):
try:
print('doing PickAndFlipAndPress')
if device == "RPI":
from Controller.GpioController import GpioController
gpio = GpioController()
gpio.initPins()
# gpio.gpioControl('wrist_f', 1)
# time.sleep(0.5)
gpio.gpioControl('grip_f', 0.7)
gpio.gpioControl('grip_b', 0.7)
time.sleep(0.5)
gpio.gpioControl('grip_f', 0.7)
gpio.gpioControl('grip_b', 0.7)
time.sleep(0.5)
# gpio.gpioControl('wrist_b', 1.2)
elif device == "LAPTOP":
time.sleep()
print('PickAndFlipAndPress finished..')
print('Replying to WT server...')
encoded_response = self.COMPLETED_MESSAGE
return encoded_response
except (ConnectionResetError, OSError) as e:
print(e)
class PlayerGpioController():
def __init__(self):
GPIO.setmode(GPIO.BOARD)
self._last_direction = 0
self.controller = GpioController()
self.controller.switch_callback = None
self.controller.rotary_callback = self.rotaryChange
self.controller.start()
def readVolume(self):
value = os.popen(
"sudo amixer get Headphone|grep -o [0-9]*%|sed 's/%//'").read()
return int(value)
def rotaryChange(self, direction):
if direction is not self._last_direction:
self._last_direction = direction
return
volume_step = 5
volume = self.readVolume()
if direction == 1:
os.system("sudo amixer set Headphone -- " +
str(min(100, max(0, volume + volume_step))) + "%")
print("vol-up")
else:
os.system("sudo amixer set Headphone -- " +
str(min(100, max(0, volume - volume_step))) + "%")
print("vol-down")
def start(self):
self.controller.start()
def stop(self):
self.controller.stop()
def start_working(self, message, device):
try:
print('doing MoveMs to ' + str(message))
if "left" in message:
print(" \n \n \n move to left \n \n \n ")
if device == "RPI":
from Controller.GpioController import GpioController
gpio = GpioController()
gpio.initPins()
gpio.gpioControl('rotate_l', 2.6)
time.sleep(1)
elif device == "LAPTOP":
time.sleep(1)
print('MoveMs finished..')
print('Replying to server...')
encoded_response = self.COMPLETED_MESSAGE_POS1
return encoded_response
elif "right" in message:
print(" \n \n \n move to right \n \n \n ")
if device == "RPI":
from Controller.GpioController import GpioController
gpio = GpioController()
gpio.initPins()
gpio.gpioControl('rotate_r', 2.4)
time.sleep(1)
elif device == "LAPTOP":
time.sleep(1)
print('MoveMs finished..')
print('Replying to server...')
encoded_response = self.COMPLETED_MESSAGE_POS2
return encoded_response
else:
return "wrong message"
except (ConnectionResetError, OSError) as e:
print(e)