def testunplugged(self):
raw_input("Unplug the boards.")
[smnr, mtrn] = prop.serialcomm()
self.assertEqual(smnr, None)
self.assertEqual(mtrn, None)
def testtxrx(self):
[smnr, mtrn] = prop.serialcomm()
print 'Testing serial comm'
mtrn.write('D')
smnr.write('D')
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
print "Tilt down"
smnr.write('T')
time.sleep(3)
print "Go back"
smnr.write('G')
time.sleep(3)
print "Pan Left"
smnr.write('H')
time.sleep(3)
print "Pan Right"
smnr.write('F')
time.sleep(3)
print "Go back"
smnr.write('G')
for i in range(1, 10000):
mtrn.write('A1200')
smnr.write('S')
rsp = mtrn.read(250)
rsp = smnr.read(250)
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
print "Done"
def testunplugged(self):
raw_input("Unplug the boards.")
[smnr, mtrn] = prop.serialcomm()
self.assertEqual(smnr,None)
self.assertEqual(mtrn,None)
def doserial():
retries = 1
ssmr = None
mtrn = None
while (retries < 5):
try:
if system_platform == "Darwin":
[ssmr, mtrn] = prop.serialcomm('/dev/cu.usbmodem14101')
else:
[ssmr, mtrn] = prop.serialcomm()
print 'Connection established'
return [ssmr, mtrn]
except Exception as e:
print 'Error while establishing serial connection.'
retries = retries + 1
return [ssmr, mtrn]
def test(self):
[smnr, mtrn] = prop.serialcomm()
print smnr.read(250)
print mtrn.read(250)
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
self.assertEqual(whoisthis(smnr)[0:4], 'SSMR')
self.assertEqual(whoisthis(mtrn)[0:4], 'MTRN')
smnr.close()
mtrn.close()
def test(self):
[smnr, mtrn] = prop.serialcomm()
print smnr.read(250)
print mtrn.read(250)
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
self.assertEqual(whoisthis(smnr)[0:4],'SSMR')
self.assertEqual(whoisthis(mtrn)[0:4],'MTRN')
smnr.close()
mtrn.close()
def doserial():
retries = 1
ssmr = None
mtrn = None
while (retries < 5):
try:
[ssmr, mtrn] = prop.serialcomm()
print 'Connection established'
return [ssmr, mtrn]
except Exception as e:
print 'Error while establishing serial connection.'
retries = retries + 1
return [ssmr, mtrn]
def testtxrx(self):
[smnr, mtrn] = prop.serialcomm()
print 'Testing serial comm'
mtrn.write('D')
smnr.write('D')
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
for i in range(1, 10000):
mtrn.write('A1200')
smnr.write('S')
rsp = mtrn.read(250)
rsp = smnr.read(250)
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
print "Done"
def testtxrx(self):
[smnr, mtrn] = prop.serialcomm()
print 'Testing serial comm'
mtrn.write('D')
smnr.write('D')
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
for i in range(1,10000):
mtrn.write('A1200')
smnr.write('S')
rsp = mtrn.read(250)
rsp = smnr.read(250)
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
print "Done"
def testtxrx(self):
[smnr, mtrn] = prop.serialcomm()
print 'Testing serial comm'
mtrn.write('D')
smnr.write('D')
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
print "Tilt down"
smnr.write('T')
time.sleep(3)
print "Go back"
smnr.write('G')
time.sleep(3)
print "Pan Left"
smnr.write('H')
time.sleep(3)
print "Pan Right"
smnr.write('F')
time.sleep(3)
print "Go back"
smnr.write('G')
for i in range(1,10000):
mtrn.write('A1200')
smnr.write('S')
rsp = mtrn.read(250)
rsp = smnr.read(250)
print "SMNR Serial Port:", smnr.port
print "MTRN Serial Port:", mtrn.port
print "Done"
import cv2
import serial
import time
from struct import *
import sys, os, select
import socket
import thread
import Proprioceptive as prop
# Open connection to tilt sensor.
hidraw = prop.setupsensor()
# Open serial connection to MotorUnit and Sensorimotor Arduinos.
#[ssmr, mtrn] = prop.serialcomm()
mtrn = serial.Serial(port='/dev/cu.usbmodem1421', timeout=0, baudrate=9600)
mtrn.read(250)
time.sleep(2)
mtrn.read(250)
#mtrn.write('A3250')
time.sleep(0.2) # This time depends on the weight
#mtrn.write('A3000')
mtrn.write('A6090')
time.sleep(0.5)
def sendsensorsample(self, smnr, mtrn):
# read Embed this in a loop.
self.counter=self.counter+1
if (self.counter>500):
smnr.write('P')
smnr.write('S')
self.counter=0
myByte = smnr.read(1)
if myByte == 'S':
data = smnr.read(38)
myByte = smnr.read(1)
if myByte == 'E':
# is a valid message struct
new_values = unpack('ffffffhhhhhhh', data)
print new_values
sent = self.sock.sendto(data, self.server_address)
self.f.write( str(new_values[6]) + ' ' + str(new_values[7]) + ' ' + str(new_values[8]) + '\n')
def close(self):
self.f.close()
if __name__ == "__main__":
[smnr, mtrn] = prop.serialcomm()
sensorimotor = Sensorimotor()
sensorimotor.start()
sensorimotor.cleanbuffer(smnr,mtrn)
while True:
sensorimotor.sendsensorsample(smnr,mtrn)
import serial
import time
from struct import *
import sys, os, select
import socket
import thread
import Proprioceptive as prop
# Open connection to tilt sensor.
hidraw = prop.setupsensor()
# Open serial connection to MotorUnit and Sensorimotor Arduinos.
#[ssmr, mtrn] = prop.serialcomm()
mtrn = serial.Serial(port='/dev/cu.usbmodem1421',timeout=0, baudrate=9600);
mtrn.read(250);
time.sleep(2)
mtrn.read(250)
#mtrn.write('A3250')
time.sleep(0.2) # This time depends on the weight
#mtrn.write('A3000')
mtrn.write('A6090')
time.sleep(0.5)
myip = [ip for ip in socket.gethostbyname_ex(socket.gethostname())[2] if not ip.startswith("127.")][:1]
myip = myip[0]
# Shinkeybot truly does nothing until it gets the remote controlling connection
print 'Multicasting my own IP address:' + myip
while True:
noticer.send()
try:
data, address = sock.recvfrom(1)
if (len(data)>0):
break
except:
data = None
# Open connection to tilt sensor.
hidraw = prop.setupsensor()
# Open serial connection to MotorUnit and Sensorimotor Arduinos.
[ssmr, mtrn] = prop.serialcomm()
# Instruct the Sensorimotor Cortex to stop wandering.
ssmr.write('C')
tgt = -300
wristpos=48
elbowpos = 150
# Pan and tilt
visualpos = [90,95]
sensesensor = 0
from struct import *
import os
import socket
import sys
import Proprioceptive as prop
import Configuration
from Fps import Fps
import SensorimotorLogger as Senso
if __name__ == "__main__":
[ssmr, mtrn] = prop.serialcomm()
# Weird, long values (4) should go first.
#sensorimotor = Sensorimotor('motorneuron',26,'hhffffhhh')
sensorimotor = Senso.Sensorimotor('sensorimotor',16,'fffhh')
sensorimotor.sensorlocalburst=100
sensorimotor.sensorburst=10
sensorimotor.updatefreq=10
sensorimotor.ip = sys.argv[1]
sensorimotor.start()
sensorimotor.init(ssmr)
print (sensorimotor.mapping)
print (sensorimotor.length)
sensorimotor.cleanbuffer(ssmr)
fps = Fps()
self.sensors = new_values
#self.f.write( str(new_values[0]) + ' ' + str(new_values[1]) + ' ' + str(new_values[2]) + ' ' + str(new_values[3]) + ' ' + str(new_values[4]) + ' ' + str(new_values[5]) + ' ' + str(new_values[6]) + ' ' + str(new_values[7]) + ' ' + str(new_values[8]) + ' ' + str(new_values[9]) + ' ' + str(new_values[10]) + ' ' + str(new_values[11]) + ' ' + str(new_values[12]) + ' ' + str(new_values[13]) + ' ' + str(new_values[14]) + '\n')
self.f.write(' '.join(map(str, new_values)) + '\n')
return new_values
def close(self):
self.f.close()
self.sock.close()
def restart(self):
self.close()
self.start()
if __name__ == "__main__":
[ssmr, mtrn] = prop.serialcomm('/dev/cu.usbmodem1421')
# Weird, long values (4) should go first.
#sensorimotor = Sensorimotor('motorneuron',26,'hhffffhhh')
sensorimotor = Sensorimotor('sensorimotor', 52, 'ffffffhhhhhhhhhhhhhh')
sensorimotor.ip = sys.argv[1]
sensorimotor.start()
sensorimotor.cleanbuffer(ssmr)
while True:
sens = sensorimotor.picksensorsample(ssmr)
mots = None
sensorimotor.sensorlocalburst = 10000
sensorimotor.sensorburst = 10
if (sens != None):
sensorimotor.send(sensorimotor.data)
self.data = readsomething(ser, self.length)
myByte = readsomething(ser, 1)
if len(myByte) >= 1 and myByte == 'E':
# is a valid message struct
#new_values = unpack('ffffffhhhhhhhhhh', data)
new_values = unpack(self.mapping, self.data)
#print new_values
self.sensors = new_values
#self.f.write( str(new_values[0]) + ' ' + str(new_values[1]) + ' ' + str(new_values[2]) + ' ' + str(new_values[3]) + ' ' + str(new_values[4]) + ' ' + str(new_values[5]) + ' ' + str(new_values[6]) + ' ' + str(new_values[7]) + ' ' + str(new_values[8]) + ' ' + str(new_values[9]) + ' ' + str(new_values[10]) + ' ' + str(new_values[11]) + ' ' + str(new_values[12]) + ' ' + str(new_values[13]) + ' ' + str(new_values[14]) + '\n')
self.f.write(' '.join(map(str, new_values)) + '\n')
return new_values
def close(self):
self.f.close()
self.sock.close()
def restart(self):
self.close()
self.start()
if __name__ == "__main__":
[smnr, mtrn] = prop.serialcomm()
sensorimotor = Sensorimotor()
sensorimotor.start()
sensorimotor.cleanbuffer(smnr)
while True:
sensorimotor.sendsensorsample(smnr)
