def __init__(self, brickConfiguration, usedSensors=None):
self.cfg = brickConfiguration
dir = os.path.dirname(__file__)
self.font_s = ImageFont.load(os.path.join(dir, 'ter-u12n_unicode.pil'))
self.font_x = ImageFont.load(os.path.join(dir, 'ter-u18n_unicode.pil'))
self.lcd = ev3dev.Screen()
self.led = ev3dev.Leds
self.keys = ev3dev.Button()
self.sound = ev3dev.Sound
(self.font_w, self.font_h) = self.lcd.draw.textsize('X',
font=self.font_s)
self.timers = {}
self.sys_bus = None
self.bt_server = None
self.bt_connections = []
def __init__(self, brickConfiguration, usedSensors=None):
self.cfg = brickConfiguration
dir = os.path.dirname(__file__)
# char size: 6 x 12 -> num-chars: 29.666667 x 10.666667
self.font_s = ImageFont.load(os.path.join(dir, 'ter-u12n_unicode.pil'))
# char size: 10 x 18 -> num-chars: 17.800000 x 7.111111
# self.font_s = ImageFont.load(os.path.join(dir, 'ter-u18n_unicode.pil'))
self.lcd = ev3dev.Screen()
self.led = ev3dev.Leds
self.keys = ev3dev.Button()
self.sound = ev3dev.Sound
(self.font_w, self.font_h) = self.lcd.draw.textsize('X',
font=self.font_s)
# logger.info('char size: %d x %d -> num-chars: %f x %f',
# self.font_w, self.font_h, 178 / self.font_w, 128 / self.font_h)
self.timers = {}
self.sys_bus = None
self.bt_server = None
self.bt_connections = []
self.lang = 'de'
def run(self):
global c, plotter
buttons = ev.Button()
right_or_up_pressed_earlier = False
left_or_down_pressed_earlier = False
while running:
if type(c) == dict:
# We got settings
if 'kp' in c:
#We got pid settings
plotter.Kp = c['kp']
plotter.Ti = c['ti']
plotter.Td = c['td']
plotter.cm_to_deg = int(c['cm_to_deg'])
wsSend("PID parameters set")
if 'll' in c:
#we got rope length settings
plotter.l_rope_0 = c['ll']
plotter.r_rope_0 = c['lr']
plotter.att_dist = c['aw']
plotter.r_step = float(c['rs'])
wsSend("Plotter settings set")
c = ''
# Socket commands
if c == 'left-fwd':
plotter.left_fwd()
elif c == 'left-back':
plotter.left_back()
elif c == 'right-fwd':
plotter.right_fwd()
elif c == 'right-back':
plotter.right_back()
elif buttons.right:
plotter.left_fwd()
right_or_up_pressed_earlier = True
elif buttons.up:
plotter.left_back()
right_or_up_pressed_earlier = True
elif buttons.down:
plotter.right_fwd()
left_or_down_pressed_earlier = True
elif buttons.left:
plotter.right_back()
left_or_down_pressed_earlier = True
elif not (buttons.left
and buttons.down) and left_or_down_pressed_earlier:
plotter.right_stop()
left_or_down_pressed_earlier = False
elif not (buttons.right
and buttons.up) and right_or_up_pressed_earlier:
plotter.left_stop()
right_or_up_pressed_earlier = False
elif c == 'right-stop':
plotter.right_stop()
c = ''
elif c == 'left-stop':
plotter.left_stop()
c = ''
elif c == 'pu':
plotter.pen_up()
c = ''
elif c == 'pd':
plotter.pen_down()
c = ''
elif c == 'stop':
plotter.left_stop()
plotter.right_stop()
c = ''
elif c == 'reload':
plotter.reload_chalk()
elif c == 'testdrive':
plotter.test_drive()
c = ''
elif c == 'plot':
start_time = time.time()
# c stays 'plot' until another command is sent trough the socket
plot_action = plotter.plot_from_file('uploads/coords.csv')
c = 'plotting'
elif c == 'plotting':
try:
pct_done = next(plot_action)
wsSend(str(pct_done))
#wsSend("[ {0:.2f}V ] Plot {1:.2f}% done".format(plotter.battery.measured_voltage/1000000.0, pct_done))
except StopIteration:
c = ''
if start_time:
elapsed = time.time() - start_time
elapsed_str = time.strftime("%Hh %Mm %Ss",
time.gmtime(elapsed))
wsSend("Done plotting after " + elapsed_str)
elif c == 'zero':
wsSend("zero motor positions")
plotter.set_control_zeroes()
c = ''
elif c == 'plotcircles':
start_time = time.time()
wsSend("Plotting circles")
# c stays 'plot' until another command is sent trough the socket
plot_action = plotter.optimized_etch()
c = 'plotting'
elif c == 'plotwaves':
wsSend("Plotting waves")
# c stays 'plot' until another command is sent trough the socket
plot_action = plotter.plot_circle_waves()
c = 'plotting'
# Button commands
if buttons.backspace:
tornado.ioloop.IOLoop.instance().stop()
# Close all sockets
for ws in websockets:
ws.close()
self.throttle.throttle() # Don't go too fast.
# Stopped running. Shutting down all motors.
plotter.stop_all_motors()
plotter_log.info("Socket thread stopped")
#!/usr/bin/env python3
import ev3dev.auto as ev3
import time
import ev3dev.fonts as fonts
TOTAL_IDS = 16
DEG_PER_ID = 20
dial = ev3.Motor(ev3.OUTPUT_C)
screen = ev3.Screen()
btn = ev3.Button()
try:
from id import MY_ID
except:
MY_ID = 0
dial.position = MY_ID * DEG_PER_ID + DEG_PER_ID // 2
while not btn.enter:
p = dial.position
id = (p % (TOTAL_IDS * DEG_PER_ID)) // DEG_PER_ID
screen.clear()
screen.draw.text((70, 50), str(id), font=fonts.load('luBS24'))
screen.update()
time.sleep(0.01)
id_file = open("id.py", 'w')
id_file.write("MY_ID = {0}\n".format(id))