import portalJson
if __name__ == "__main__":
argparser = argparse.ArgumentParser('Display gyroscope data')
argparser.add_argument('-a', '--address', help='Device address', default=None)
options = argparser.parse_args()
print options.address
if not options.address:
options.address = os.environ['RUNPARAM']
ind_port = 5000
req_port = 5001
ind_p = portalJson.portal(options.address, ind_port)
req_p = portalJson.portal(options.address, req_port)
d = {'name':'say','x':1}
print d
req_p.send(d)
print ind_p.recv()
d = {'name':'say','x':3}
print d
req_p.send(d)
print ind_p.recv()
d = {'name':'say2','x':2,'y':1}
print d
req_p.send(d)
print ind_p.recv()
d = {'name':'setLeds','x':0}
argparser.add_argument('-vs', '--visualize_sonar', help='Display maxsonar output in X/Y plane', default=False, action='store_true')
argparser.add_argument('-a', '--address', help='Device address', default=None)
options = argparser.parse_args()
spew_gyro = not options.visualize_gyro;
spew_sonar = not options.visualize_sonar;
visualize_gyro = options.visualize_gyro;
visualize_sonar = options.visualize_sonar;
print options.address
if not options.address:
options.address = os.environ['RUNPARAM']
if (visualize_gyro):
g_v = gv()
if (visualize_sonar):
s_v = sv()
gs = gyro_stream(smoothe)
gjp = portalJson.portal(options.address, 5000)
msjp = portalJson.portal(options.address, 5001)
summ = [0,0,0]
try:
while (True):
samples = []
for i in range(0,48):
d = json.loads(gjp.recv())
samples.append(d['x'])
samples.append(d['y'])
samples.append(d['z'])
d = json.loads(msjp.recv())
sonar_distance = d['v']
poss = gs.next_samples(samples)
sonar_distance = sonar_distance/147.0
if (spew_sonar): print "sonar_distance: %f" % (sonar_distance)
argparser = argparse.ArgumentParser('Display gyroscope data')
argparser.add_argument('-a',
'--address',
help='Device address',
default=None)
options = argparser.parse_args()
print options.address
if not options.address:
options.address = os.environ['RUNPARAM']
ind_port = 5000
req_port = 5001
ind_p = portalJson.portal(options.address, ind_port)
req_p = portalJson.portal(options.address, req_port)
d = {'name': 'say', 'x': 1}
print d
req_p.send(d)
print ind_p.recv()
d = {'name': 'say', 'x': 3}
print d
req_p.send(d)
print ind_p.recv()
d = {'name': 'say2', 'x': 2, 'y': 1}
print d
req_p.send(d)
print ind_p.recv()
d = {'name': 'setLeds', 'x': 0}
help='Device address',
default=None)
options = argparser.parse_args()
spew_gyro = not options.visualize_gyro
spew_sonar = not options.visualize_sonar
visualize_gyro = options.visualize_gyro
visualize_sonar = options.visualize_sonar
print options.address
if not options.address:
options.address = os.environ['RUNPARAM']
if (visualize_gyro):
g_v = gv()
if (visualize_sonar):
s_v = sv()
gs = gyro_stream(smoothe)
gjp = portalJson.portal(options.address, 5000)
msjp = portalJson.portal(options.address, 5001)
summ = [0, 0, 0]
try:
while (True):
samples = []
for i in range(0, 48):
d = json.loads(gjp.recv())
samples.append(d['x'])
samples.append(d['y'])
samples.append(d['z'])
d = json.loads(msjp.recv())
sonar_distance = d['v']
poss = gs.next_samples(samples)
sonar_distance = sonar_distance / 147.0
if (spew_sonar): print "sonar_distance: %f" % (sonar_distance)
