from SerialInterface import SerialInterface import time from Logger import console def increment(message): console.log(message) if message == "This is message number 0": # console.log("Message correct") pass else: console.log("Message incorrect") interface = SerialInterface('/dev/tty.usbmodem1421', 115200) interface.Listen() interface.OnInput(increment) message_count = 0 last_time = time.time() while True: cur_time = time.time() if cur_time - last_time > 1: # print('Recieved %s messages' % (message_count,)) last_time = cur_time interface.Write('This is message number %s' % (message_count, )) console.log('Sending message')
] def toDegreeInt(num): return int(num * 180 / math.pi) def getStep(time): for s in coords[::-1]: if s[0] < time: return s return coords[-1] inter = SerialInterface('/dev/tty.usbmodem1421', baud=115200) inter.Listen() time.sleep(1) initial_time = time.time() last_time = initial_time while time.time() - initial_time < total_time: cur_time = time.time() if cur_time - last_time > interval: last_time = cur_time diff_ms = (cur_time - initial_time) * 1000 for leg in legs: leg_time = (diff_ms * time_factor + leg[1]) % stride_duration step = getStep(leg_time) kneeAngle = toDegreeInt(step[2])