def __init__(self, world):
GLRealtimeProgram.__init__(self, "Arduino control")
self.world = world
self.sim = Simulator(world)
self.robot = world.robot(0)
self.controller = self.sim.getController(0)
if not synthetic:
self.readthread = ReadArduinoThread()
self.readthread.start()
self.readthread.wait_for_data()
self.calibration = Calibration()
self.calibration.load()
self.filter = CompositeFilter(
[DeadbandFilter(), ExponentialFilter(0.5)])
self.last_reading = None
self.qfiltered = None
import messagePublisher
import settings
from filters import *
from klampt import vectorops
import math
import time
import json
import sys
print """syntheticSerialRelay.py: sends wiggling messages to the
Klamp't objective function server on localhost:3456. Uses the calibration
in arduinoCalibrate.txt to map to Klamp't configurations. Sends a "config"
type objective.
"""
calibration = Calibration()
calibration.load()
print "***** Using a deadband filter with exponential smoothing *****"
filter = CompositeFilter([DeadbandFilter(),ExponentialFilter(0.5)])
print "***** Running synthetic Arduino stream... *****"
def get_reading():
#mags = [512,512,512,512,512]
mags = [256,256,256,256,256]
periods = [20,13,7,6,22]
return [512 + mag*math.sin(time.time()/period) for mag,period in zip(mags,periods)]
rate = 30
host = ''
