def __init__(self, **kwargs):
import threading
super(RoboPad, self).__init__(**kwargs)
# some trash he-he
# t = threading.Thread(target=self.some_current_data)
# t.daemon = True
# t.start()
# # print('running super(Gamepad, self).__init__()')
# joystickhand and joystickrun
self.joystickhand = Joystick(size_hint=(.4, .4),
pos_hint={'x': 0.0, 'y': .2},
sticky=True)
self.add_widget(self.joystickhand)
self.joystickrun = Joystick(size_hint=(.4, .4),
pos_hint={'x': 0.6, 'y': .2})
self.add_widget(self.joystickrun)
# add some buttons
self.catchbutton = Button(size_hint=(.15, .15),
pos_hint={'x': .8, 'y': .65},
text='Catch me!')
self.add_widget(self.catchbutton)
# add debug Labels
# self.debug_label = Label(size_hint=(.2, .2),
# pos_hint={'x': .8, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label)
# self.debug_label_hand = Label(size_hint=(.2, .2),
# pos_hint={'x': .1, 'y': .8},
# text='message ... ...',)
# self.add_widget(self.debug_label_hand)
# self.debug_label_run = Label(size_hint=(.2, .2),
# pos_hint={'x': .5, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label_run)
# bind joystick
self.joystickrun.bind(pad=self.update_coordinates_run)
self.joystickhand.bind(pad=self.update_coordinates_hand)
# bind button
self.catchbutton.bind(on_press=self.update_catch_release)
# self.global_reader()
self.current_hand_pos = {}
self.saved_hand_pos = {}
self.current_run_pos = {}
self.saved_run_pos = {}
Clock.schedule_interval(self.timer, 0.1)
def __init__(self, **kwargs):
super(RoboPad, self).__init__(**kwargs)
# # print('running super(Gamepad, self).__init__()')
# joystickhand and joystickrun
self.joystickhand = Joystick(size_hint=(.4, .4),
pos_hint={
'x': 0.0,
'y': .2
},
sticky=True)
self.add_widget(self.joystickhand)
self.joystickrun = Joystick(size_hint=(.4, .4),
pos_hint={
'x': 0.6,
'y': .2
})
self.add_widget(self.joystickrun)
# add some buttons
self.catchbutton = Button(size_hint=(.15, .15),
pos_hint={
'x': .8,
'y': .65
},
text='Catch me!')
self.add_widget(self.catchbutton)
# add debug Labels
# self.debug_label = Label(size_hint=(.2, .2),
# pos_hint={'x': .8, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label)
# self.debug_label_hand = Label(size_hint=(.2, .2),
# pos_hint={'x': .1, 'y': .8},
# text='message ... ...',)
# self.add_widget(self.debug_label_hand)
# self.debug_label_run = Label(size_hint=(.2, .2),
# pos_hint={'x': .5, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label_run)
# bind joystick
self.joystickrun.bind(pad=self.update_coordinates_run)
self.joystickhand.bind(pad=self.update_coordinates_hand)
# bind button
self.catchbutton.bind(on_press=self.update_catch_release)
self.old_headx = 0.0
self.old_handy = 0.0
self.old_turnx = 0.0
self.old_runy = 0.0
self.last_command_sent_at = 0.0
def build(self):
self.root = BoxLayout()
self.root.padding = 25
joystick = Joystick()
joystick.bind(pad=self.update_coordinates)
self.root.add_widget(joystick)
self.label = Label()
def __init__(self, **kwargs):
super(RoboPad, self).__init__(**kwargs)
print('running super(Gamepad, self).__init__()')
# joystickhand and joystickhead
self.joystickhand = Joystick(size_hint=(.4, .4),
pos_hint={'x':0.0, 'y':.2})
self.add_widget(self.joystickhand)
self.joystickhead = Joystick(size_hint=(.4, .4),
pos_hint={'x':0.6, 'y':.2})
self.add_widget(self.joystickhead)
# add some buttons
self.catchbutton = Button(size_hint=(.15, .15),
pos_hint={'x': .8, 'y': .65},
text='Catch me!')
self.add_widget(self.catchbutton)
def __init__(self, **kwargs):
super(RoboPad, self).__init__(**kwargs)
# print('running super(Gamepad, self).__init__()')
# joystickhand and joystickrun
# self.joystickhand = Joystick(size_hint=(.4, .4),
# pos_hint={'x':0.0, 'y':.2},
# sticky=True)
# self.add_widget(self.joystickhand)
self.joystickrun = Joystick(size_hint=(.4, .4),
pos_hint={'x':0.6, 'y':.2})
self.add_widget(self.joystickrun)
# add some buttons
# self.catchbutton = Button(size_hint=(.15, .15),
# pos_hint={'x': .8, 'y': .65},
# text='Catch me!')
# self.add_widget(self.catchbutton)
# add debug Labels
self.debug_label = Label(size_hint=(.2, .2),
pos_hint={'x': .8, 'y': .8},
text='message ... ...',) # multiline=True,)
self.add_widget(self.debug_label)
# self.debug_label_hand = Label(size_hint=(.2, .2),
# pos_hint={'x': .1, 'y': .8},
# text='message ... ...',)
# self.add_widget(self.debug_label_hand)
# self.debug_label_run = Label(size_hint=(.2, .2),
# pos_hint={'x': .5, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label_run)
# bind joystick
self.joystickrun.bind(pad=self.update_coordinates_run)
def __init__(self, **kwargs):
super(RoboPad, self).__init__(**kwargs)
# # print('running super(Gamepad, self).__init__()')
# joystickhand and joystickrun
self.joystickhand = Joystick(size_hint=(.45, .45),
pos_hint={
'x': 0.0,
'y': .2
},
sticky=True)
self.add_widget(self.joystickhand)
self.joystickrun = Joystick(size_hint=(.45, .45),
pos_hint={
'x': 0.6,
'y': .2
})
self.joystickhand.bind(pad=self.update_coordinates_hand)
self.add_widget(self.joystickrun)
self.joystickrun.bind(pad=self.update_coordinates_run)
# add some buttons
self.catchbutton = Button(size_hint=(.15, .15),
pos_hint={
'x': .8,
'y': .65
},
text='Catch me!')
self.add_widget(self.catchbutton)
self.catchbutton.bind(on_press=self.update_catch_release)
# self.reset_stat_button = Button(size_hint=(.05, .05),
# pos_hint={'x': .6, 'y': .65},
# text='reset stat')
# self.add_widget(self.reset_stat_button)
# self.reset_stat_button.bind(on_press=self.reset_stat_button)
# add debug Labels
self.debug_label = Label(
size_hint=(.4, .0),
pos_hint={
'x': .2,
'y': .2
},
text='message ... ...',
) # multiline=True,)
self.add_widget(self.debug_label)
# self.debug_label_hand = Label(size_hint=(.2, .2),
# pos_hint={'x': .1, 'y': .8},
# text='message ... ...',)
# self.add_widget(self.debug_label_hand)
# self.debug_label_run = Label(size_hint=(.2, .2),
# pos_hint={'x': .5, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label_run)
# bind joystick
# bind button
self.slider_accept_command_timeout = Slider(size_hint=(.4, .03),
pos_hint={
'x': .1,
'y': .9
},
min=0.02,
max=0.2,
value=0.05)
self.add_widget(self.slider_accept_command_timeout)
self.slider_accept_command_timeout.bind(
value=self.OnSliderAcccepptCommandTiteoutValueChange)
self.slider_velocity_factor = Slider(size_hint=(.4, .03),
pos_hint={
'x': .1,
'y': .85
},
min=0.01,
max=10.0,
value=0.3)
self.add_widget(self.slider_velocity_factor)
self.slider_velocity_factor.bind(
value=self.OnSliderVelocityFactorValueChange)
# not used , just place holder
self.slider_timeout_timer_start = Slider(size_hint=(.4, .03),
pos_hint={
'x': .1,
'y': .8
},
min=0.02,
max=0.2,
value=0.11)
self.add_widget(self.slider_timeout_timer_start)
self.slider_timeout_timer_start.bind(
value=self.OnSliderTimeoutTimerStartValueChange)
self.accept_command_timeout = 0.05 # 0.6 is too short, broke app!
#
# for slow motion 0.1 ok ok
# for fast motiion 0.0.25 is not enough
# self.timeout_slow = 0.14
self.timeout_timer_start = 0.14
self.velocity_factor = 0.3
self.old_headx = 0.0
self.old_handy = 0.0
self.old_turnx = 0.0
self.old_runy = 0.0
self.last_command_sent_at = 0.0
# self.current_hand_pos = {'headx': 0.0, 'handy': 0.0}
# self.saved_hand_pos = {}
# self.last_hand_move = {}
# self.current_run_pos = {'turnx': 0.0, 'runy': 0.0}
# self.saved_run_pos = {'turnx': 0.0, 'runy': 0.0}
# self.last_run_move = {}
self.current_pos = {
'headx': 0.0,
'handy': 0.0,
'turnx': 0.0,
'runy': 0.0
}
self.saved_pos = {
'headx': 0.0,
'handy': 0.0,
'turnx': 0.0,
'runy': 0.0
}
self.last_move = {
'headx': 0.0,
'handy': 0.0,
'turnx': 0.0,
'runy': 0.0
}
self.mean_time_send_command_data = 0.05
self.counter_send_command_data = 1
self.counter_commands = 1
Clock.schedule_interval(self.timer, self.timeout_timer_start)
def __init__(self, **kwargs):
super(RoboPad, self).__init__(**kwargs)
# # print('running super(Gamepad, self).__init__()')
# joystickhand and joystickrun
self.joystickhand = Joystick(size_hint=(.5, .5),
pos_hint={'x': .0, 'y': .0},
sticky=True)
self.add_widget(self.joystickhand)
self.joystickrun = Joystick(size_hint=(.5, .5),
pos_hint={'x': .5, 'y': .0})
self.joystickhand.bind(pad=self.update_coordinates_hand)
self.add_widget(self.joystickrun)
self.joystickrun.bind(pad=self.update_coordinates_run)
# add some buttons
self.catchbutton = Button(size_hint=(.3, .1),
pos_hint={'x': .7, 'y': .9},
text='Catch me!')
self.add_widget(self.catchbutton)
self.catchbutton.bind(on_press=self.update_catch_release)
self.dance_button = Button(size_hint=(.2, .1),
pos_hint={'x': .4, 'y': .9},
text='Dance!')
self.add_widget(self.dance_button)
self.dance_button.bind(on_press=self.update_dance)
self.hiphop_dance = Button(size_hint=(.2, .1),
pos_hint={'x': .1, 'y': .9},
text='hip-hop!')
self.add_widget(self.hiphop_dance)
self.hiphop_dance.bind(on_press=self.update_hiphop)
# self.reset_stat_button = Button(size_hint=(.05, .05),
# pos_hint={'x': .6, 'y': .65},
# text='reset stat')
# self.add_widget(self.reset_stat_button)
# self.reset_stat_button.bind(on_press=self.reset_stat_button)
# add debug Labels
self.debug_label = Label(size_hint=(.4, .0),
pos_hint={'x': .2, 'y': .2},
text='message ... ...',) # multiline=True,)
self.add_widget(self.debug_label)
# self.debug_label_hand = Label(size_hint=(.2, .2),
# pos_hint={'x': .1, 'y': .8},
# text='message ... ...',)
# self.add_widget(self.debug_label_hand)
# self.debug_label_run = Label(size_hint=(.2, .2),
# pos_hint={'x': .5, 'y': .8},
# text='message ... ...',) # multiline=True,)
# self.add_widget(self.debug_label_run)
# bind joystick
# bind button
self.slider_accept_command_timeout = Slider(size_hint=(.4, .03),
pos_hint={'x': .1,
'y': .9},
min=0.02,
max=0.2,
value=0.05)
# self.add_widget(self.slider_accept_command_timeout)
self.slider_accept_command_timeout.bind(value=self.OnSliderAcccepptCommandTiteoutValueChange)
self.slider_velocity_factor = Slider(size_hint=(.4, .03),
pos_hint={'x': .1,
'y': .85},
min=0.01,
max=10.0,
value=0.3)
# self.add_widget(self.slider_velocity_factor)
self.slider_velocity_factor.bind(value=self.OnSliderVelocityFactorValueChange)
# not used , just place holder
self.slider_timeout_timer_start = Slider(size_hint=(.4, .03),
pos_hint={'x': .1,
'y': .8},
min=0.02,
max=0.2,
value=0.11)
# self.add_widget(self.slider_timeout_timer_start)
self.slider_timeout_timer_start.bind(value=self.OnSliderTimeoutTimerStartValueChange)
self.slider_gear_factor = Slider(size_hint=(.4, .03),
pos_hint={'x': .1,
'y': .8},
min=1,
max=5,
value=3)
self.add_widget(self.slider_gear_factor)
self.slider_gear_factor.bind(value=self.OnSliderGearFactorValueChange)
self.accept_command_timeout = 0.05 # 0.6 is too short, broke app!
#
# for slow motion 0.1 ok ok
# for fast motiion 0.0.25 is not enough
# self.timeout_slow = 0.14
self.timeout_timer_start = 0.14
self.velocity_factor = 0.3
self.old_headx = 0.0
self.old_handy = 0.0
self.old_turnx = 0.0
self.old_runy = 0.0
self.last_command_compiled_before_send = time.time()
self.last_command_sent_at = time.time()
# self.current_hand_pos = {'headx': 0.0, 'handy': 0.0}
# self.saved_hand_pos = {}
# self.last_hand_move = {}
# self.current_run_pos = {'turnx': 0.0, 'runy': 0.0}
# self.saved_run_pos = {'turnx': 0.0, 'runy': 0.0}
# self.last_run_move = {}
self.mean_time_send_command_data = 0.0
self.counter_send_command_data = 1
self.counter_commands = 1
self.dance = False
self.hiphop = 1
self.gear = 3
self.robot_host = '192.168.4.1' # hardcoded robot ip t4m net
self.robot_port = 80
self.current_pos = {'headx': 0.0, 'handy': 0.0, 'turnx': 0.0, 'runy': 0.0, 'gear': self.gear}
self.saved_pos = {'headx': 0.0, 'handy': 0.0, 'turnx': 0.0, 'runy': 0.0, 'gear': self.gear}
self.last_move = {'headx': 0.0, 'handy': 0.0, 'turnx': 0.0, 'runy': 0.0, 'gear': self.gear}
self.saved_command = {'gear': self.gear}
self.command_sent = True
# self.SERVO_MIN = 35 # real servo min-max
# self.SERVO_MAX = 125
self.SERVO_MIN = 40 # compatible with 0.8.3.0.9
self.SERVO_MAX = 117
self.servo_center = self.SERVO_MAX - self.SERVO_MIN
self.SERVO_NEAR_ZERO = 0.03
self.SERVO_FACTOR = 1.3
Clock.schedule_interval(self.timer_with_saved_params, self.timeout_timer_start) # start afterburner