def set_level(leveldir, offset):
"""
Set level, idk if we use this
Returns the final level and offset
"""
atmega.write("l {} {}\n".format(leveldir, offset))
offset = atmega.readline().strip().split(" ")
if offset[0] != "ll":
logger.error("Expected 'll' as response to 'l' command, got {}".format(
offset[0]))
return int(offset[0]), float(offset[1])
def get_state():
""" Requests and returns the state from the atmega """
atmega.write("c\n")
# get the line, strip the newline char, split it
arr = atmega.readline().strip().split(" ")
if arr[0] != "s":
logger.error("Expected reply starting with 's' from control when asked"
" for state, got {}".format(arr[0]))
return State(*([0] * 6))
# exclude the first 's' char
arr = [float(i) for i in arr[1:]]
return State(*arr)
def killed():
""" Get the status of the kill switch """
atmega.write("a\n")
k = atmega.readline().strip()
try:
k = int(k)
except:
logger.critical(
"Recieved {} instead of an 1 or 0 from atmega, continuing".format(
k))
return True
return True if k == 0 else False
def set_state(state):
""" Sends desired state to control """
logger.info("Set desired state to {}".format(state))
if modeling.current_confidence > 0.5:
atmega.write("n {} {}\n".format(modeling.current_state.x,
modeling.current_state.y))
set_speed(.1)
set_power(.3)
else:
set_speed(config.mission.SPEED)
set_speed(config.mission.POWER)
atmega.write("s {}\n".format(state))
return state
def set_speed(val):
""" sets speed of sub, I don't know if we use this """
return atmega.write("o {}\n".format(val))
def kill():
""" Sets the motor power to 0 """
return atmega.write("p 0\n")
return atmega.write("o 0\n")
def set_power(val):
""" Sets the motor power """
return atmega.write("p {}\n".format(val))
def drop():
""" Activates dropper """
return atmega.write("r 3\n")
def untilt():
""" Sets pitch and roll to 0 to level out the sub """
return atmega.write("u\n")
def activate_relay(index):
""" Activates the relay at the specified index """
return atmega.write("r {}\n".format(index))
def set_config(index, val):
""" Set a desired config value on the arduino """
return atmega.write("e {} {}\n".format(index, val))