class StippleManager(object):
"""
Current hardware configuration:
For x and y coordinates, 500 = 1/4 inch
For width, 38000 = 19"
"""
def __init__(self, x=0, y=0, width=200):
self.left_pulley_moving = False
self.right_pulley_moving = False
self.x = x
self.y = y
self.width = width
self.left_pulley_position = hypotenuse(x, y)
self.right_pulley_position = hypotenuse(width - x, y)
self.left_pulley = PulleyMotor(parent=self,
direction_pin=7,
step_pin=8,
backwards=True)
self.right_pulley = PulleyMotor(parent=self,
direction_pin=24,
step_pin=23)
self.pen = ServoMotor()
self.pulley_queue = multiprocessing.Queue()
self.points_to_draw = []
def add_points(self, points):
self.points_to_draw += points
def get_coords(self):
return "%s, %s" % (self.x, self.y)
def start_drawing(self):
drawing_thread = threading.Thread(target=self.draw)
def stop_drawing(self):
self._stop_drawing = True
def draw(self):
if self._stop_drawing:
# We received a message to stop drawing, so stop drawing dots and reset the message
self._stop_drawing = False
else:
# Pop a point off the front of our points array
if self.points_to_draw:
next_point = self.points_to_draw.pop(0)
new_x = next_point[0]
new_y = next_point[1]
# Calculate pulley lengths for new coords
new_left_pulley_position = hypotenuse(new_x, new_y)
new_right_pulley_position = hypotenuse(self.width - new_x,
new_y)
# Figure out diff between old and new pulley lengths now so
# that properties on self can be set before pulleys are moved
diff_lpp = new_left_pulley_position - self.left_pulley_position
diff_rpp = new_right_pulley_position - self.right_pulley_position
print "Going to move %s %s" % (diff_lpp, diff_rpp)
# Setting properties before actually moving pulleys
self.left_pulley_position = new_left_pulley_position
self.right_pulley_position = new_right_pulley_position
self.x = new_x
self.y = new_y
if new_x > 0 and new_x < self.width and new_y > 0:
self.left_pulley_moving = True
self.right_pulley_moving = True
multiprocessing.Process(
target=self.left_pulley.move,
args=[self.pulley_queue, diff_lpp, True,
'first']).start()
multiprocessing.Process(
target=self.right_pulley.move,
args=[self.pulley_queue, diff_rpp, True,
'second']).start()
print "Waiting for result..."
result = self.pulley_queue.get(
) # waits until any of the proccess have `.put()` a result
result2 = self.pulley_queue.get()
print result
print result2
self.pen.tap()
# Draw next point
self.draw()
class StippleManager(object):
"""
Current hardware configuration:
For x and y coordinates, 500 = 1/4 inch
For width, 38000 = 19"
"""
def __init__(self, x=0, y=0, width=200):
self.left_pulley_moving = False
self.right_pulley_moving = False
self.x = x
self.y = y
self.width = width
self.left_pulley_position = hypotenuse(x, y)
self.right_pulley_position = hypotenuse(width-x, y)
self.left_pulley = PulleyMotor(parent=self, direction_pin=7, step_pin=8, backwards=True)
self.right_pulley = PulleyMotor(parent=self, direction_pin=24, step_pin=23)
self.pen = ServoMotor()
self.pulley_queue = multiprocessing.Queue()
self.points_to_draw = []
def add_points(self, points):
self.points_to_draw += points
def get_coords(self):
return "%s, %s" % (self.x, self.y)
def start_drawing(self):
drawing_thread = threading.Thread(target=self.draw)
def stop_drawing(self):
self._stop_drawing = True
def draw(self):
if self._stop_drawing:
# We received a message to stop drawing, so stop drawing dots and reset the message
self._stop_drawing = False
else:
# Pop a point off the front of our points array
if self.points_to_draw:
next_point = self.points_to_draw.pop(0)
new_x = next_point[0]
new_y = next_point[1]
# Calculate pulley lengths for new coords
new_left_pulley_position = hypotenuse(new_x, new_y)
new_right_pulley_position = hypotenuse(self.width-new_x, new_y)
# Figure out diff between old and new pulley lengths now so
# that properties on self can be set before pulleys are moved
diff_lpp = new_left_pulley_position - self.left_pulley_position
diff_rpp = new_right_pulley_position - self.right_pulley_position
print "Going to move %s %s" % (diff_lpp, diff_rpp)
# Setting properties before actually moving pulleys
self.left_pulley_position = new_left_pulley_position
self.right_pulley_position = new_right_pulley_position
self.x = new_x
self.y = new_y
if new_x > 0 and new_x < self.width and new_y > 0:
self.left_pulley_moving = True
self.right_pulley_moving = True
multiprocessing.Process(target=self.left_pulley.move, args=[self.pulley_queue, diff_lpp, True, 'first']).start()
multiprocessing.Process(target=self.right_pulley.move, args=[self.pulley_queue, diff_rpp, True, 'second']).start()
print "Waiting for result..."
result = self.pulley_queue.get() # waits until any of the proccess have `.put()` a result
result2 = self.pulley_queue.get()
print result
print result2
self.pen.tap()
# Draw next point
self.draw()
