def draw_robot():
# Update the cursor that indicates the current position of the robot
rx, ry = robot.rshm("x"), robot.rshm("y")
#print(rx,ry)
x, y = rob_to_screen(rx, ry)
win.coords(
robot_pos,
(x - cursor_size, y - cursor_size, x + cursor_size, y + cursor_size))
win.itemconfig(coord_txt, text=" %.3f,%.3f" % (rx, ry))
win.coords(coord_txt, (x, y))
global moving
robcol = "green" if moving else "blue"
win.itemconfig(robot_pos, fill=robcol)
def follow_robot():
""" Draw the robot position on the screen, repeatedly."""
global calib, master, gui, oldrect
oldrect = None # just so that it is initialised
gui["keep_going"] = True # set gui["keep_going"] to False to drop out of this and stop following the robot handle
update_ui()
while gui["keep_going"]:
rx, ry = robot.rshm('x'), robot.rshm('y')
sx, sy = robot_to_screen(rx, ry)
draw_cursor(sx, sy)
master.update_idletasks()
master.update()
def capture(e):
capt = []
for _ in range(N_CAPTURE):
x, y = robot.rshm('x'), robot.rshm('y')
capt.append((x, y))
time.sleep(CAPTURE_SLEEP)
# Capture the position
allx, ally = zip(*capt)
capx, capy = np.mean(allx), np.mean(ally)
global captured, current_target, targets
targx, targy = targets[current_target]
captured.append((targx, targy, capx, capy))
# Show in the interface what we captured
global gui
gui["position"].set("x=%.3f y=%.3f" % (capx, capy))
next_target(e)
def draw_robot():
# Update the cursor that indicates the current position of the robot
rx, ry = robot.rshm("x"), robot.rshm("y")
#print(rx,ry)
x, y = rob_to_screen(rx, ry)
global gui
win = gui["win"]
robot_pos = gui["robot_pos"]
coord_txt = gui["coord_txt"]
win.coords(
robot_pos,
(x - cursor_size, y - cursor_size, x + cursor_size, y + cursor_size))
win.itemconfig(coord_txt, text=" %.3f,%.3f" % (rx, ry))
win.coords(coord_txt, (x, y))
win.create_oval(x - trace_size,
y - trace_size,
x + trace_size,
y + trace_size,
fill='red')
def update_display_values():
if capturing:
# First, capture all the variables
vals = [robot.rshm(v) for v in variables]
# For each variable, show its value
valbox.delete(0, END) # remove everything
i = 0
for i, val in enumerate(vals):
#val = robot.rshm(v)
if val == None:
valbox.insert(END, "N/A")
continue
if type(val) is list:
valbox.insert(END, "(array)")
continue
#val = random.random()
valbox.insert(END, str(val))
if val < 0:
valbox.itemconfig(i, foreground="red")
else:
valbox.itemconfig(i, foreground="green")
def showpos():
print(robot.rshm('x'), robot.rshm('y'))
print("Position:")
showpos()
print("Now I will tell the robot to stay fixed at this position")
input()
print("Staying")
robot.stay()
input()
print("Position:")
showpos()
x, y = robot.rshm('x'), robot.rshm('y')
tx, ty = x + .1, y
print("About to move to %f,%f, okay?" % (tx, ty))
input()
robot.move_to(tx, ty, 3.)
print("Press <ENTER> to switch to stay")
input()
print("Staying")
robot.stay()
print("Press <ENTER> to unload.")
input()
import time
import robot.interface as robot
#import robot.dummy as robot
robot.load()
print("Loaded")
v = robot.dump_shm()
print(v)
print(robot.rshm('fvv_trial_phase'))
print(robot.status())
for _ in range(5):
x,y = robot.rshm('x'),robot.rshm('y')
time.sleep(.1)
print(x,y)
robot.move_to(.3,.1,2)
for _ in range(20):
x,y = robot.rshm('x'),robot.rshm('y')
time.sleep(.1)
print(x,y)
robot.unload()
def capture_position():
# Capture the current position
rx, ry = robot.rshm("x"), robot.rshm("y")
global captured
captured.append((rx, ry))