class Sketch(object):
__metaclass__ = ABCMeta
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
@abstractmethod
def setup(self):
raise NotImplementedError
@abstractmethod
def loop(self):
raise NotImplementedError
def start(self):
self.start_time = time()
self.iterations = 0 # float cuz this can get big
if not self.tamp.started: self.tamp.start()
self.stopped = False
def stop(self):
self.stopped = True
@property
def elapsed(self):
return time() - self.start_time
@property
def throughput(self):
return self.tamp.pf.packets_received / self.elapsed
@property
def frequency(self):
return self.iterations / self.elapsed
def run(self):
self.start()
try:
self.setup()
print "Entered loop"
while not self.stopped:
self.loop()
self.iterations += 1
sleep(self.sleep_duration)
except KeyboardInterrupt:
self.stop() # as if the sketch had called it
self.tamp.stop()
print "Sketch finished running"
class Sketch(object):
__metaclass__ = ABCMeta
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
@abstractmethod
def setup(self):
raise NotImplementedError
@abstractmethod
def loop(self):
raise NotImplementedError
def start(self):
self.start_time = time()
self.iterations = 0 # float cuz this can get big
if not self.tamp.started: self.tamp.start()
self.stopped = False
def stop(self):
self.stopped = True
@property
def elapsed(self):
return time() - self.start_time
@property
def throughput(self):
return self.tamp.pf.packets_received / self.elapsed
@property
def frequency(self):
return self.iterations / self.elapsed
def run(self):
self.start()
try:
self.setup()
print "Entered loop"
while not self.stopped:
self.loop()
self.iterations += 1
sleep(self.sleep_duration)
except KeyboardInterrupt:
self.stop() # as if the sketch had called it
self.tamp.stop()
print "Sketch finished running"
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
from sw.mapping import Mapper
from sw.mapping.arena import Arena
from sw.vision import Vision, CameraPanel, Camera
from sw.gui import window, ControlPanel
from sw.hal import *
from sw import constants
import pygame
import time
from tamproxy import TAMProxy
if __name__ == "__main__":
cam = Camera(geom=constants.camera_geometry, id=1)
v = Vision(cam)
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer,
map=Arena.load('../sw/mapping/red_map.txt'))
w = window.Window(
500, [m, CameraPanel(v), ControlPanel(r)
]) #[Mapper(drive.odometer), CameraPanel(500, v)])
while True:
v.update()
m.update_cubes_from(v)
time.sleep(0.05)
pass
class Sketch(object):
__metaclass__ = ABCMeta
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
@abstractmethod
def setup(self):
raise NotImplementedError
@abstractmethod
def loop(self):
raise NotImplementedError
def pre_setup(self):
self.start_time = time()
self.iterations = 0
self.tamp.start()
self.stopped = False
def post_setup(self):
self.tamp.pf.pc.set_continuous_enabled(True)
print "Entering Loop"
def pre_loop(self):
pass
def post_loop(self):
self.iterations += 1
sleep(self.sleep_duration)
def on_exit(self):
self.tamp.stop()
print "Sketch finished running"
def stop(self):
self.stopped = True
@property
def elapsed(self):
return time() - self.start_time
@property
def throughput(self):
return self.tamp.pf.packets_received / self.elapsed
@property
def frequency(self):
return self.iterations / self.elapsed
def run(self):
try:
self.pre_setup()
self.setup()
self.post_setup()
while not self.stopped:
self.pre_loop()
self.loop()
self.post_loop()
except KeyboardInterrupt:
self.stop() # as if the sketch had called it
self.on_exit()
from sw import pins
from tamproxy.devices import Odometer
from tamproxy.devices import Gyro
from tamproxy.devices import Encoder
from tamproxy import TAMProxy
import time
if __name__ == "__main__":
tamp = TAMProxy()
gyro = Gyro(tamp, pins.gyro_cs, integrate=False)
lEnc = Encoder(tamp, pins.l_encoder_a, pins.l_encoder_b, continuous = False)
rEnc = Encoder(tamp, pins.r_encoder_a, pins.r_encoder_b, continuous = False)
odo = Odometer(tamp, lEnc, rEnc, gyro, 0.0)
while True:
odo.update()
lEnc.update()
rEnc.update()
print odo.val
print lEnc.val
print rEnc.val
time.sleep(0.05)
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
class Sketch(object):
__metaclass__ = ABCMeta
def __init__(self, sleep_duration=c.host.default_sleep_duration):
self.sleep_duration = sleep_duration
self.tamp = TAMProxy()
self.stopped = False
self.start_time = None
@abstractmethod
def setup(self):
raise NotImplementedError
@abstractmethod
def loop(self):
raise NotImplementedError
def pre_setup(self):
self.start_time = time()
self.iterations = 0
self.tamp.start()
self.stopped = False
def post_setup(self):
self.tamp.pf.pc.set_continuous_enabled(True)
print "Entering Loop"
def pre_loop(self):
pass
def post_loop(self):
self.iterations += 1
sleep(self.sleep_duration)
def on_exit(self):
self.tamp.stop()
print "Sketch finished running"
def stop(self):
self.stopped = True
@property
def elapsed(self):
return time() - self.start_time
@property
def throughput(self):
return self.tamp.pf.packets_received / self.elapsed
@property
def frequency(self):
return self.iterations / self.elapsed
def run(self):
try:
self.pre_setup()
self.setup()
self.post_setup()
while not self.stopped:
self.pre_loop()
self.loop()
self.post_loop()
except KeyboardInterrupt:
self.stop() # as if the sketch had called it
self.on_exit()
