def task_time(t, mot, velo, f):
global thread_end
global thread_started
global threads_num
global result
w.cmpc(mot)
w.motor(mot, velo)
# lock.acquire()
# threads_num += 1
# lock.release()
thread_started = True
print("wait {}s ...".format(t))
while t > 0: # wait till expected time
print(t),
sleep(1)
t -= 1
w.freeze(mot)
print("\nstopping ...")
thread_end = True
# lock.acquire()
# threads_num -= 1
# lock.release()
result = "motor {}\nruntime: {}\nmotor ticks: {}\nturns: {}".format(
mot, runtime, w.gmpc(mot), f.get_result())
def task_rotate(turns, mot, velo, f):
global thread_end
global thread_started
global threads_num
global result
w.cmpc(mot)
w.motor(mot, velo)
# lock.acquire()
# threads_num += 1
# lock.release()
thread_started = True
print("wait {} turns ...".format(turns))
#data = []
last_val = f.get_result()
while last_val < turns: # wait till expected turns
val = f.get_result()
if val > last_val:
print("%2.1f\t%i" % (last_val, w.gmpc(mot)))
last_val = val
w.freeze(mot)
print("\nstopping ...")
thread_end = True
# lock.acquire()
# threads_num -= 1
# lock.release()
result = "motor {}\nturns: {}\nmotor ticks: {}".format(
mot, f.get_result(), w.gmpc(mot))
def DEBUGwithWait():
freeze(c.LMOTOR)
freeze(c.RMOTOR)
#print ('Program stop for DEBUG\nSeconds: ', seconds() - startTime)
ao()
msleep(5000)
exit(0)
def rotate_spinner(rotations, speed):
full_rotation = 1400.0
start = get_motor_position_counter(SPINNER)
motor_power(SPINNER, speed)
tries_remaining = 3
previous = 0
counter = 0
while abs(get_motor_position_counter(SPINNER) - start) < abs(
full_rotation * rotations) and tries_remaining > 0:
if counter >= 10:
counter = 0
if tries_remaining > 0:
motor_power(SPINNER, int(-speed))
msleep(300)
motor_power(SPINNER, speed)
tries_remaining -= 1
elif abs(get_motor_position_counter(SPINNER)) == previous:
counter += 1
else:
counter = 0
previous = abs(get_motor_position_counter(SPINNER))
msleep(10)
print "rotated {} out of {}".format(
get_motor_position_counter(SPINNER) - start,
abs(full_rotation * rotations))
freeze(SPINNER)
def DEBUG_WITH_WAIT():
freeze(c.LMOTOR)
freeze(c.RMOTOR)
ao()
msleep(5000)
display('Program stop for DEBUG\nSeconds: {}'.format(seconds() -
c.startTime))
exit(0)
def DEBUG():
freeze(c.LMOTOR)
freeze(c.RMOTOR)
ao()
display('Program stop for DEBUG\nSeconds: {}'.format(seconds() -
c.startTime))
display("NOTE: {}\t{}".format(seconds(), c.startTime))
exit(0)
def rotate_until_stalled(speed):
counter = 0
motor_power(SPINNER, speed)
previous = abs(get_motor_position_counter(SPINNER))
while counter < 10:
if abs(get_motor_position_counter(SPINNER)) == previous:
counter += 1
else:
counter = 0
previous = abs(get_motor_position_counter(SPINNER))
msleep(10)
freeze(SPINNER)
clear_motor_position_counter(SPINNER)
def task_rotate(turns, mot, velo, sens):
global result
w.cmpc(mot)
w.motor(mot, velo)
print("wait {} turns ...".format(turns))
sens.update()
last_val = sens.get_result()
while last_val < turns: # wait till expected turns
sens.update()
val = sens.get_result()
if val > last_val:
print(last_val),
last_val = val
w.freeze(mot)
print("\nstopping ...")
result = "motor {}\nturns: {}\nmotor ticks: {}".format(
mot, sens.get_result(), w.gmpc(mot))
def freeze_motors(): # Locks the motors to reduce drift.
freeze(LMOTOR)
freeze(RMOTOR)
def shutdown():
freeze(c.LMOTOR)
freeze(c.RMOTOR)
ao()
display('Program stopped\nSeconds: {}'.format(seconds() - c.startTime))
exit(0)
def DEBUG():
freeze(c.LMOTOR)
freeze(c.RMOTOR)
print('Program stop for DEBUG\nSeconds: ', seconds() - c.startTime)
ao()
exit(0)
def rotate_to_safe(power):
full_rotation = 1400.0
motor_power(SPINNER, power)
while abs(get_motor_position_counter(SPINNER)) % full_rotation > 50:
pass
freeze(SPINNER)
def DEBUGwithWait():
freeze(c.LMOTOR)
freeze(c.RMOTOR)
ao()
print 'Program stop for DEBUG\nSeconds: ', seconds() - c.startTime
msleep(5000)