def main():
print menu_header
# Open the serial port
# ************************** USER ENTERED PORT ***************************
port = raw_input("Enter your serial port (EX: COM14)\n>>")
cobs = cobs_serial(port, 115200, 1)
# ************************** DEFAULT DEBUG PORT ***************************
#print "Defaulting port to COM14. Change script if neeeded"
#cobs = cobs_serial('COM14', 115200, 1) #apparently the port is offset by 1 (so COM14 is 13)
# *************************** END PORT CONFIG ****************************
#User Menu
#Loop until user quits
while True:
option = raw_input(menu)
sel = option.strip()
if sel == '6':
break
elif sel == '1': #CONTROL LEDS
do_led(cobs)
elif sel == '2': #READ ADC VALUE
do_adc(cobs)
elif sel == '3': #TEST MOTORS
do_motor(cobs)
elif sel == '4': #CONTROL SERVOS
do_servo(cobs)
elif sel == '5': #READ ULTRASONIC SENSOR
do_ultrasonic(cobs)
def main():
print menu_header
# Open the serial port
# ************************** USER ENTERED PORT ***************************
port = raw_input("Enter your serial port (EX: COM14)\n>>")
cobs = cobs_serial(port, 115200, 1)
# ************************** DEFAULT DEBUG PORT ***************************
# print "Defaulting port to COM14. Change script if neeeded"
# cobs = cobs_serial('COM14', 115200, 1) #apparently the port is offset by 1 (so COM14 is 13)
# *************************** END PORT CONFIG ****************************
# User Menu
# Loop until user quits
while True:
option = raw_input(menu)
sel = option.strip()
if sel == "6":
break
elif sel == "1": # CONTROL LEDS
do_led(cobs)
elif sel == "2": # READ ADC VALUE
do_adc(cobs)
elif sel == "3": # TEST MOTORS
do_motor(cobs)
elif sel == "4": # CONTROL SERVOS
do_servo(cobs)
elif sel == "5": # READ ULTRASONIC SENSOR
do_ultrasonic(cobs)
def main():
print menu_header
# Open the serial port
# ************************** USER ENTERED PORT ***************************
port = raw_input("Enter your serial port (EX: COM14)\n>>")
cobs = cobs_serial(port, 115200, 1)
# ************************** DEFAULT DEBUG PORT ***************************
#print "Defaulting port to COM17. Change script if neeeded"
#cobs = cobs_serial('COM17', 115200, 1)
# *************************** END PORT CONFIG ****************************
#User Menu
#Loop until user quits
while True:
#sys.stderr.write("\x1b[2J\x1b[H")
#print("\033c");
#clear()
print menu_header
# ask the user for the motor and command type
motornum = getNumInRange(0, 5, motor_menu);
if motornum == -1 or motornum == 0:
continue
if motornum == 4:
stopMotors(cobs)
continue
if motornum == 5:
break
type = getNumInRange(0, 7, option_menu)
if type == -1:
continue
# decide how to handle user input
if type == 7:
break
elif type == 0: #DIRECTION
do_direction(motornum, type, cobs)
elif type == 1: #SPEED
do_speed(motornum, type, cobs)
elif type == 2: #ENCODER
do_encoder(motornum, type, cobs)
elif type == 3: #CURRENT
do_current(motornum, type, cobs)
elif type == 4: #MODE
do_mode(motornum, type, cobs)
elif type == 5: #POWER
do_power(motornum, type, cobs);
elif type == 6: #STOP MOTORS
stopMotors(cobs)
def main(debug = False):
print header
# Open the serial port
# ************************** USER ENTERED PORT ***************************
#port = raw_input("Enter your serial port (EX: COM14)\n>>")
#cobs = cobs_serial(port, 115200, 1)
# ************************** DEFAULT DEBUG PORT ***************************
print "Defaulting port to COM12. Change script if needed"
cobs = cobs_serial('COM12', 115200, 1)
# *************************** END PORT CONFIG ****************************
print "Adding hardcoded ID's to whitelist..."
white1 = 0x0201041B # apparent ID taken from C# code that worked with "observer" code.
# (0201041B) in hex = (33621019) in decimal.
white2 = 0x01010101 # arbitrary second white listed ID
whitelist = [white1, white2, 10506251] #list of whitelisted ID's
#print "Whitelisted ID: " + repr(white1)
print "Whitelist contents: " + repr(list(whitelist))
#print len(whitelist) #
print "Building data structures..."
id_map = {}
for id in whitelist:
id_map[id] = [init_rssi_avg, -1000, deque([init_rssi_avg,init_rssi_avg,init_rssi_avg, \
init_rssi_avg,init_rssi_avg,init_rssi_avg,init_rssi_avg,init_rssi_avg, \
init_rssi_avg,init_rssi_avg])] #total, average (UNUSED ATM), values (10 total)
if debug:
print id_map
while(True):
#below read has a timeout of 1 second?
retarray = cobs.block_and_return() #this function checks the CRC for us. returns data only, no crc
if not(retarray == None):
rssi_number = struct.unpack('b', retarray[rssi_start_byte:rssi_stop_byte])
id_number = struct.unpack('>L', retarray[id_start_byte:id_stop_byte])
#if debug:
#print "Recieved byte array:\n" + repr(retarray)
#print "ID bytes: " + repr(retarray[id_start_byte:id_stop_byte])
#print "RSSI bytes: " + repr(retarray[rssi_start_byte:rssi_stop_byte]) + "\n"
if debug:
print "\nID number = " + repr(id_number[0])
print "RSSI number = " + repr(rssi_number[0])
#if id_number in id_map: #currently the update_map function implements this behavior
update_map(id_map, id_number[0], rssi_number[0], cobs, debug)
