import arm
robot_arm=arm.robotArm()
driver=driveUnit.driveUnit()
commandQueue=Queue.Queue()
sensorList= {"lineSensor" : [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"distance" : [0, 0],
"armPosition" : [0, 0, 255, 4, 5, 5],
"errorCodes" : ["YngveProgrammedMeWrong"],
"motorSpeed" : [70, 70],
"latestCalibration" : "0000-00-00-15:00",
"autoMotor" : True,
"autoArm" : False,
"regulator" : [0, 0],
"error" : 0}
pcThreadObject=pcThread(commandQueue,sensorList)
pcThreadObject.daemon=True
pcThreadObject.start()
while True:
if not commandQueue.empty():
command=(commandQueue.get())
if command[0]=="motorSpeed":
left=int(command[1][0])
right=int(command[1][1])
driver.setMotorLeft(left)
driver.setMotorRight(right)
print(left,right)
driver.sendAllMotor()
if command[0]=="armPosition":
robot_arm.setX(command[1][0])
robot_arm.setY(command[1][1])
"latestCalibration" : "0000-00-00-15:00",
"autoMotor" : False,
"autoArm" : False,
"regulator" : [0, 0],
"error" : 0,
"state" : None,
"hasPackage" :False}
load_cal_from_file(shared_stuff)
sensor_thread = sensorThread.sensorThread(shared_stuff)
sensor_thread.daemon=True
sensor_thread.start()
cmd_queue = Queue.Queue()
pc_thread = pcThread.pcThread(cmd_queue, shared_stuff)
pc_thread.daemon=True
pc_thread.start()
regulator = regulator.Regulator(shared_stuff)
regulator.daemon=True
regulator.start()
log.basicConfig(level=log.INFO)
gloria = Gloria(shared_stuff, cmd_queue, sensor_thread)
try:
gloria.run()
except:
gloria.set_speed(0, 0)
sys.exit(1)
