def turn_right():
motors.enable()
if not disable_motor_flag:
motors.setSpeeds(-turn_motor_speed, turn_motor_speed)
time.sleep(motor_turn_time)
motors.setSpeeds(0, 0)
motors.disable()
def main():
motors.enable()
motors.setSpeeds(0, 0)
inp = ""
while inp != "q":
try:
inp = input("f, b, s, or q: ")
except:
print("\nNo fun exiting")
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
if inp == "f":
motors.motor1.setSpeed(-480)
elif inp == "b":
motors.motor1.setSpeed(480)
elif inp == "s":
motors.motor1.setSpeed(0)
elif inp == "q":
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
else:
print("nope")
def main():
global bus
global busloc
initsensor(bus, busloc)
timezone = pytz.timezone(STRTZ)
motors.enable()
motors.setSpeeds(0, 0)
inp = ""
while inp != "q":
cur_pos = mydeg(get_pos())
try:
inp = input("Current Angle: %s - a, f, b, s, or q: " % cur_pos)
except:
print("\nNo fun exiting")
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
if inp == "f":
motors.motor1.setSpeed(-480)
elif inp == "b":
motors.motor1.setSpeed(480)
elif inp == "s":
motors.motor1.setSpeed(0)
elif inp == "q":
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
elif inp == "a":
print(
"Oh cool, you want to set an angle! Type it here, oh, use whole numbers for now"
)
print("")
myangle = input(
"Set a whole number angle between %s (East) and %s (West): " %
(EAST_ANGLE, WEST_ANGLE))
if 1 == 1:
ang = int(myangle)
print("Using %s as your angle (you entered %s, we int() it)" %
(ang, myangle))
print("Setting Now")
goto_angle(ang)
print("Set complete")
print("")
else:
print("We couldn't int your angle, ignoring you for now")
continue
else:
print("nope")
motors.motor1.setSpeed(-MAX_SPEED)
raiseIfFault()
#Forward halfspeed
elif keyboard.is_pressed("e"):
#print("\n backward (w)")
motors.enable()
motors.motor1.setSpeed(-halfspeed)
raiseIfFault()
elif keyboard.is_pressed("p"):
#print("\n backward (w)")
motors.enable()
motors.motor2.setSpeed(MAX_SPEED)
raiseIfFault()
elif keyboard.is_pressed("b"):
#print("\n backward (w)")
motors.enable()
motors.motor2.setSpeed(MAX_SPEED)
raiseIfFault()
#Stop
else:
#print("\n no input")
motors.disable()
except:
#print("shouldn't see this")
#break # if user pressed a key other than the given key, break
time.sleep(0.05)
def key_rover(ch,prev_ch,motorspeed,motors_enabled):
#check if this is the first time executing this function
while ch:
print ch
#Rover Motors Re-Enable
if ch == 'h':
if motors_enabled == False:
motors.enable()
motors_enabled = True
print ('Rover Motors Enabled. To disable, press \';\'')
#Don't allow any other input until motors re-enabled
elif motors_enabled == False:
print ('Rover Motors Disabled. To enable, press \'h\'')
#Rover Motors Disable
elif ch == ';':
if motors_enabled == True:
motors.disable()
motors_enabled = False
print ('Rover Motors Disabled. To enable, press \'h\'')
#Rover Forward
elif ch == 'i':
print ('Rover Forward')
motors.setSpeeds(motorspeed,motorspeed)
#Rover Backward
elif ch == 'k':
print ('Rover Backward')
motors.setSpeeds(-motorspeed,-motorspeed)
#Rover Pivot Right
elif ch == 'l':
print ('Rover Pivot Right')
motors.setSpeeds(motorspeed,-motorspeed)
#Rover Pivot Left
elif ch == 'j':
print ('Rover Pivot Left')
motors.setSpeeds(-motorspeed,motorspeed)
#Rover Speed Up
elif ch == 'o':
#check that the motorspeed is not MAX_SPEED
if(motorspeed == MAX_SPEED):
print ('Rover is at maximum defined speed of %d.', motorspeed)
else:
motorspeed = motorspeed + SPEED_INTERVAL;
#check if the increase put motorspeed over MAX_SPEED & correct
if(motorspeed >= MAX_SPEED):
motorspeed == MAX_SPEED
print ('Rover Speed Up: %d', motorspeed)
#Rover Slow Down
elif ch == 'u':
#check that the motorspeed is not 0
if(motorspeed == 0):
print ('Rover is at minimum speed of %d.', motorspeed)
else:
motorspeed = motorspeed - SPEED_INTERVAL;
#check if the decrease put motorspeed under 0 & correct
if(motorspeed <= 0):
motorspeed == 0
print ('Rover Slow Down: %d', motorspeed)
#Rover stop if no key input
else:
motors.setSpeeds(0, 0)
print ('Rover Stop')
prev_ch = 'Stopped'
return motorspeed, motors_enabled
def index():
return 'Go away.'
motors.disable()
motors.setSpeeds(0, 0) #Keagan guaranteeing motors are stopped
print msg
#initialize ROS node
#Wait for initialization to finish
#Keagan -- is this where I should place my operating code?
print('Send commands to rover now...')
while True:
ch = getch()
print ch
#Exit
if ch == '\x03':
motors.disable()
rover_enabled = False
exit(0) #Keagan--should this become break so that some
# code can still execute?
#Re-enabling motors
if ch == 'h':
if rover_enabled == False:
rover_enabled = True
motors.enable()
motors.setSpeeds(0, 0)
print('Motors Re-enabled. To disable, press \';\'')
#Operate Rover
if key_held(ch, prev_ch) == False:
if rover_enabled == True:
def key_rover(ch, prev_ch):
#check if this is the first time executing this function
if first_execute == True:
prev_ch = 'placeholder'
first_execute = False
while ch:
print ch
#Rover Forward
if ch == 'i':
rospy.loginfo('Rover Forward')
motors.setSpeed(motorspeed, motorspeed)
#Rover Backward
elif ch == 'k':
rospy.loginfo('Rover Backward')
motors.setSpeed(-motorspeed, -motorspeed)
#Rover Pivot Right
elif ch == 'l':
rospy.loginfo('Rover Pivot Right')
motors.setSpeed(motorspeed, -motorspeed)
#Rover Pivot Left
elif ch == 'j':
rospy.loginfo('Rover Pivot Left')
motors.setSpeed(-motorspeed, motorspeed)
#Rover Speed Up
elif ch == 'o':
#check that the motorspeed is not MAX_SPEED
if (motorspeed == MAX_SPEED):
rospy.loginfo('Rover is at maximum defined speed of %d.',
motorspeed)
else:
motorspeed = motorspeed + SPEED_INTERVAL
#check if the increase put motorspeed over MAX_SPEED & correct
if (motorspeed >= MAX_SPEED):
motorspeed == MAX_SPEED
rospy.loginfo('Rover Speed Up: %d', motorspeed)
#Rover Slow Down
elif ch == 'u':
#check that the motorspeed is not 0
if (motorspeed == 0):
rospy.loginfo('Rover is at minimum speed of %d.', motorspeed)
else:
motorspeed = motorspeed - SPEED_INTERVAL
#check if the decrease put motorspeed under 0 & correct
if (motorspeed <= 0):
motorspeed == 0
rospy.loginfo('Rover Slow Down: %d', motorspeed)
#Rover Motors Disable
elif ch == ';':
if motors_enabled == True:
motors.disable()
motors_enabled = False
rospy.loginfo('Rover Motors Disabled. To enable, press \'p\'')
#Rover stop if no key input
else:
motors.setSpeed(0, 0)
rospy.loginfo('Rover Stop')
prev_ch = 'Stopped'
return None
def shut_motors(self):
motors.setSpeeds(0, 0)
motors.disable()