def control_move(path):
print(path)
seekrate_ = 6000
feedrate_ = 2000
intensity_ = 100.0
driveboard.absolute()
for polyline in path:
if len(polyline) > 0:
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
driveboard.move(polyline[0][0], polyline[0][1])
if len(polyline) > 1:
driveboard.feedrate(feedrate_)
driveboard.intensity(intensity_)
for i in range(1, len(polyline)):
driveboard.move(polyline[i][0], polyline[i][1])
time.sleep(0.08)
driveboard.air_off()
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
time.sleep(0.1)
driveboard.move(0, 0, 0)
time.sleep(0.1)
def start(browser=False, debug=False):
""" Start a bottle web server.
Derived from WSGIRefServer.run()
to have control over the main loop.
"""
global DEBUG
DEBUG = debug
class FixedHandler(wsgiref.simple_server.WSGIRequestHandler):
def address_string(self): # Prevent reverse DNS lookups please.
return self.client_address[0]
def log_request(*args, **kw):
if debug:
return wsgiref.simple_server.WSGIRequestHandler.log_request(
*args, **kw)
S.server = wsgiref.simple_server.make_server(
conf['network_host'], conf['network_port'], bottle.default_app(),
wsgiref.simple_server.WSGIServer, FixedHandler)
S.server.timeout = 0.01
S.server.quiet = not debug
if debug:
bottle.debug(True)
print("Library Directory: " + conf['rootdir'])
print("Config Directory: " + conf['confdir'])
print(
"-----------------------------------------------------------------------------"
)
print("Starting server at http://%s:%d/" %
('127.0.0.1', conf['network_port']))
print(
"-----------------------------------------------------------------------------"
)
driveboard.connect_withfind()
# open web-browser
if browser:
try:
webbrowser.open_new_tab('http://127.0.0.1:' +
str(conf['network_port']))
except webbrowser.Error:
print("Cannot open Webbrowser, please do so manually.")
sys.stdout.flush() # make sure everything gets flushed
# start server
# print "INFO: Starting web server thread."
S.start()
driveboard.air_off()
if conf['home_on_startup']:
try:
# will fail if board not flashed
driveboard.homing()
except:
pass
def control(decision):
seekrate_ = 6000
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
if decision == "left":
driveboard.move(-10.0, 0)
time.sleep(0.1)
elif decision == "right":
driveboard.move(10.0, 0)
time.sleep(0.1)
elif decision == "top":
driveboard.move(0, -10.0)
time.sleep(0.1)
elif decision == "bot":
driveboard.move(0, 10.0)
time.sleep(0.1)
elif decision == "quit":
driveboard.absolute()
driveboard.air_off()
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
time.sleep(0.1)
driveboard.move(0, 0, 0)
time.sleep(0.1)
elif decision == "run":
driveboard.absolute()
path = [[[0, 0], [0, 0]],
[[30.0, 30.0], [30.0, 60.0], [60.0, 60.0], [60.0, 30.0],
[30.0, 30.0]]]
driveboard.intensity(0.0)
driveboard.air_on()
seekrate_ = 6000
feedrate_ = 2000
intensity_ = 100.0
for polyline in path:
if len(polyline) > 0:
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
driveboard.move(polyline[0][0], polyline[0][1])
if len(polyline) > 1:
driveboard.feedrate(feedrate_)
driveboard.intensity(intensity_)
for i in range(1, len(polyline)):
driveboard.move(polyline[i][0], polyline[i][1])
time.sleep(0.08)
driveboard.air_off()
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
time.sleep(0.1)
driveboard.move(0, 0, 0)
time.sleep(0.1)
def air_off():
driveboard.air_off()
return '{}'
def air_off():
driveboard.air_off()
return '{}'
count = 0
# if driveboard.status()['ready']:
driveboard.intensity(0.0)
driveboard.air_on()
seekrate_ = 6000
feedrate_ = 2000
intensity_ = 100.0
driveboard.absolute()
for polyline in path:
if len(polyline) > 0:
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
driveboard.move(polyline[0][0], polyline[0][1])
if len(polyline) > 1:
driveboard.feedrate(feedrate_)
driveboard.intensity(intensity_)
for i in range(1, len(polyline)):
driveboard.move(polyline[i][0], polyline[i][1])
count += 1
time.sleep(0.08)
driveboard.air_off()
driveboard.feedrate(seekrate_)
driveboard.intensity(0.0)
time.sleep(0.1)
driveboard.move(0, 0, 0)
time.sleep(0.1)
print("Count: {}".format(count))
driveboard.close()
