def __init__(self):
self.menu_items = [ "Forward", "Backward", "Leftward", "Rightward", "Both Up", "Both Down", "L Up", "L Down", "R Up", "R Down", "D Both Up", "D Both Down", "D L Up", "D L Down", "D R Up", "D R Down", "Turn CW", "Turn CCW" ]
self.selected = 0
self.scroll_top = 0
self.scroll_bot = 5
master_cmd({"command":"stop_all_motors"})
GPIO.add_event_detect(7, GPIO.BOTH, callback=self.btn_edge, bouncetime=250)
def key(self, key):
global scr
if key == 2:
return constants.SCR_MENU
elif key == 0:
if self.selected > 0:
self.selected -= 1
if self.selected < self.scroll_top:
self.scroll_top -= 1
self.scroll_bot -= 1
elif key == 1:
if self.selected < (len(self.menu_items) - 1):
self.selected += 1
if self.selected >= self.scroll_bot:
self.scroll_top += 1
self.scroll_bot += 1
elif key == 3:
if self.selected == 0:
return constants.SCR_ROUTE
elif self.selected == 1:
return constants.SCR_MOTOR_TEST
elif self.selected == 2:
return constants.SCR_CALIBRATION
elif self.selected == 3:
return constants.SCR_DUMP_TH
elif self.selected == 4:
master_cmd({"command": "set_request"})
return constants.SCR_NONE
def key(self, key):
global scr
if key == 2:
return constants.SCR_MENU
elif key == 0:
if self.selected > 0:
self.selected -= 1
if self.selected < self.scroll_top:
self.scroll_top -= 1
self.scroll_bot -= 1
elif key == 1:
if self.selected < (len(self.menu_items)-1):
self.selected += 1
if self.selected >= self.scroll_bot:
self.scroll_top += 1
self.scroll_bot += 1
elif key == 3:
if self.selected == 0:
return constants.SCR_ROUTE
elif self.selected == 1:
return constants.SCR_MOTOR_TEST
elif self.selected == 2:
return constants.SCR_CALIBRATION
elif self.selected == 3:
return constants.SCR_DUMP_TH
elif self.selected == 4:
master_cmd({"command":"set_request"})
return constants.SCR_NONE
def key(self, key):
global scr
if key == 2:
return constants.SCR_SETTINGS
if self.distance > 0:
if key == 3:
master_cmd({"command":"write_config","name":"bin_height","value":self.distance});
return constants.SCR_SETTINGS
return constants.SCR_NONE
def key(self, key):
global scr
if key == 2:
return constants.SCR_SETTINGS
if self.status == 0:
if key == 1:
if self.threshold > 0: self.threshold -= 5
elif key == 0:
if self.threshold < 100: self.threshold += 5
elif key == 3:
master_cmd({"command":"write_config","name":"threshold","value":self.threshold});
return constants.SCR_SETTINGS
return constants.SCR_NONE
def __init__(self):
self.menu_items = [
"Forward", "Backward", "Leftward", "Rightward", "Both Up",
"Both Down", "L Up", "L Down", "R Up", "R Down", "D Both Up",
"D Both Down", "D L Up", "D L Down", "D R Up", "D R Down",
"Turn CW", "Turn CCW"
]
self.selected = 0
self.scroll_top = 0
self.scroll_bot = 5
master_cmd({"command": "stop_all_motors"})
GPIO.add_event_detect(7,
GPIO.BOTH,
callback=self.btn_edge,
bouncetime=250)
def key(self, key):
global scr
if key == 2:
return constants.SCR_SETTINGS
if self.distance > 0:
if key == 3:
master_cmd({
"command": "write_config",
"name": "bin_height",
"value": self.distance
})
return constants.SCR_SETTINGS
return constants.SCR_NONE
def __init__(self):
res = master_cmd({"command":"dump_config"})
if res == "":
self.status = -1
else:
self.status = 0
self.threshold = int(res["threshold"])
def __init__(self):
self.previous_update = time()
res = master_cmd({"command":"status"})
if res == "":
self.distance = -1
else:
self.distance = int(res["distance"])
def __init__(self):
self.previous_update = time()
res = master_cmd({"command": "status"})
if res == "":
self.distance = -1
else:
self.distance = int(res["distance"])
def __init__(self):
res = master_cmd({"command": "dump_config"})
if res == "":
self.status = -1
else:
self.status = 0
self.threshold = int(res["threshold"])
def __init__(self):
self.selected = 0
res = master_cmd({"command": "dump_config"})
if res == "":
self.status = -1
else:
self.status = 0
self.route = res["route"]
self.build_menu()
def key(self, key):
global scr
if key == 2:
return constants.SCR_SETTINGS
if self.status == 0:
if key == 1:
if self.threshold > 0: self.threshold -= 5
elif key == 0:
if self.threshold < 100: self.threshold += 5
elif key == 3:
master_cmd({
"command": "write_config",
"name": "threshold",
"value": self.threshold
})
return constants.SCR_SETTINGS
return constants.SCR_NONE
def render(self, draw):
draw.rectangle((0, 0, 128, 64), outline=0, fill=0)
draw.text((20, 0),
strftime("%Y-%m-%d %H:%M:%S"),
fill=255,
font=font_time)
draw.line([(0, 12), (128, 12)], fill=255, width=1)
if (time() - self.previous_update) < 1:
if self.status == -1:
draw.text((0, 28),
"Can't connect to master",
fill=255,
font=font)
draw.text((0, 38), "Retrying..", fill=255, font=font)
return
elif self.status == 0:
draw.text((13, 28), "Idle", fill=255, font=font_status)
elif self.status == 1:
draw.text((13, 28), "Move", fill=255, font=font_status)
elif self.status == 2:
draw.text((13, 28), "Dump", fill=255, font=font_status)
draw.bitmap((80, 15), trashcan, fill=255)
draw.text((45, 50 - (35 * self.level / 100)),
("{0:g}".format(self.level) + "% -").rjust(6, " "),
fill=255,
font=font)
return
self.previous_update = time()
res = master_cmd({"command": "status"})
if res == "":
draw.text((0, 28), "Can't connect to master", fill=255, font=font)
draw.text((0, 38), "Retrying..", fill=255, font=font)
self.status = -1
else:
self.status = res["status"]
self.level = res["level"]
if res["status"] == 0:
draw.text((13, 28), "Idle", fill=255, font=font_status)
elif res["status"] == 1:
draw.text((13, 28), "Move", fill=255, font=font_status)
elif res["status"] == 2:
draw.text((13, 28), "Dump", fill=255, font=font_status)
draw.bitmap((80, 15), trashcan, fill=255)
draw.text((45, 50 - (35 * res["level"] / 100)),
("{0:g}".format(res["level"]) + "% -").rjust(6, " "),
fill=255,
font=font)
def render(self, draw):
draw.rectangle((0, 0, 128, 64), outline=0, fill=0)
draw.text((0, 0), "Calibration", fill=255, font=font_status)
if (time() - self.previous_update) > 1:
self.previous_update = time()
res = master_cmd({"command":"status"})
if res == "":
self.distance = -1
else:
self.distance = int(res["distance"])
if self.distance == -1:
draw.text((0, 28), "Can't connect to master", fill=255, font=font)
draw.text((0, 38), "Retrying..", fill=255, font=font)
else:
draw.text((52, 20), ("{0:g}".format(self.distance) + " cm"), fill=255, font=font_status)
def render(self, draw):
draw.rectangle((0, 0, 128, 64), outline=0, fill=0)
draw.text((0, 0), "Calibration", fill=255, font=font_status)
if (time() - self.previous_update) > 1:
self.previous_update = time()
res = master_cmd({"command": "status"})
if res == "":
self.distance = -1
else:
self.distance = int(res["distance"])
if self.distance == -1:
draw.text((0, 28), "Can't connect to master", fill=255, font=font)
draw.text((0, 38), "Retrying..", fill=255, font=font)
else:
draw.text((52, 20), ("{0:g}".format(self.distance) + " cm"),
fill=255,
font=font_status)
def render(self, draw):
draw.rectangle((0, 0, 128, 64), outline=0, fill=0)
draw.text((20, 0), strftime("%Y-%m-%d %H:%M:%S"), fill=255, font=font_time)
draw.line([(0, 12), (128, 12)], fill=255, width=1)
if (time() - self.previous_update) < 1:
if self.status == -1:
draw.text((0, 28), "Can't connect to master", fill=255, font=font)
draw.text((0, 38), "Retrying..", fill=255, font=font)
return
elif self.status == 0:
draw.text((13, 28), "Idle", fill=255, font=font_status)
elif self.status == 1:
draw.text((13, 28), "Move", fill=255, font=font_status)
elif self.status == 2:
draw.text((13, 28), "Dump", fill=255, font=font_status)
draw.bitmap((80, 15), trashcan, fill=255)
draw.text((45, 50-(35*self.level/100)), ("{0:g}".format(self.level) + "% -").rjust(6, " "), fill=255, font=font)
return
self.previous_update = time()
res = master_cmd({"command":"status"})
if res == "":
draw.text((0, 28), "Can't connect to master", fill=255, font=font)
draw.text((0, 38), "Retrying..", fill=255, font=font)
self.status = -1
else:
self.status = res["status"]
self.level = res["level"]
if res["status"] == 0:
draw.text((13, 28), "Idle", fill=255, font=font_status)
elif res["status"] == 1:
draw.text((13, 28), "Move", fill=255, font=font_status)
elif res["status"] == 2:
draw.text((13, 28), "Dump", fill=255, font=font_status)
draw.bitmap((80, 15), trashcan, fill=255)
draw.text((45, 50-(35*res["level"]/100)), ("{0:g}".format(res["level"]) + "% -").rjust(6, " "), fill=255, font=font)
import RPi.GPIO as GPIO
from comms import master_cmd
from time import sleep
from constants import hall_scalar
master_cmd({"command": "stop_all_motors"})
current_distance = 0
mode = 0
def move_hall_edge(channel):
global current_distance, mode
if mode == 0:
print current_distance
current_distance += hall_scalar[0]
else:
print current_distance
current_distance += hall_scalar[1]
GPIO.setmode(GPIO.BOARD)
GPIO.setup(16, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(18, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(24, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(26, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.remove_event_detect(16)
GPIO.remove_event_detect(18)
def btn_edge(self, channel):
if GPIO.input(7):
print "Released!"
master_cmd({"command":"stop_all_motors"})
else:
if self.selected == 0:
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":1})
elif self.selected == 1:
master_cmd({"command":"motor","motor":2,"direction":-1})
master_cmd({"command":"motor","motor":3,"direction":-1})
elif self.selected == 2:
master_cmd({"command":"motor","motor":0,"direction":1})
master_cmd({"command":"motor","motor":1,"direction":1})
elif self.selected == 3:
master_cmd({"command":"motor","motor":0,"direction":-1})
master_cmd({"command":"motor","motor":1,"direction":-1})
elif self.selected == 4:
master_cmd({"command":"motor","motor":4,"direction":1})
master_cmd({"command":"motor","motor":5,"direction":1})
elif self.selected == 5:
master_cmd({"command":"motor","motor":4,"direction":-1})
master_cmd({"command":"motor","motor":5,"direction":-1})
elif self.selected == 6:
master_cmd({"command":"motor","motor":4,"direction":1})
elif self.selected == 7:
master_cmd({"command":"motor","motor":4,"direction":-1})
elif self.selected == 8:
master_cmd({"command":"motor","motor":5,"direction":1})
elif self.selected == 9:
master_cmd({"command":"motor","motor":5,"direction":-1})
elif self.selected == 10:
master_cmd({"command":"motor","motor":6,"direction":1})
master_cmd({"command":"motor","motor":7,"direction":1})
elif self.selected == 11:
master_cmd({"command":"motor","motor":6,"direction":-1})
master_cmd({"command":"motor","motor":7,"direction":-1})
elif self.selected == 12:
master_cmd({"command":"motor","motor":6,"direction":1})
elif self.selected == 13:
master_cmd({"command":"motor","motor":6,"direction":-1})
elif self.selected == 14:
master_cmd({"command":"motor","motor":7,"direction":1})
elif self.selected == 15:
master_cmd({"command":"motor","motor":7,"direction":-1})
elif self.selected == 16:
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":-1})
elif self.selected == 17:
master_cmd({"command":"motor","motor":2,"direction":-1})
master_cmd({"command":"motor","motor":3,"direction":1})
mcp.output(i*2, GPIO.LOW)
mcp.output(i*2+1, GPIO.HIGH)
else:
pca.set_pwm(i*2, 0, 0)
pca.set_pwm(i*2+1, 0, 4095)
else:
if i < 4:
mcp.output(i*2, GPIO.HIGH)
mcp.output(i*2+1, GPIO.LOW)
else:
pca.set_pwm(i*2, 0, 4095)
pca.set_pwm(i*2+1, 0, 0)
else:
stop(i)
stop_all()
motors = [0, 0, 0, 0, 0, 0, 0, 0]
while True:
sleep(0.1)
resp = master_cmd({"command":"get_motors"})
if resp["status"] != "ok": continue
new_motors = resp["motors"]
for i in range(8):
if not motors[i] == new_motors[i]:
print "move motor" + str(i)
move(i, new_motors[i])
motors[i] = new_motors[i]
import RPi.GPIO as GPIO
from comms import master_cmd
from time import sleep
from constants import hall_scalar
master_cmd({"command":"stop_all_motors"})
current_distance = 0
mode = 0
def move_hall_edge(channel):
global current_distance, mode
if mode == 0:
print current_distance
current_distance += hall_scalar[0]
else:
print current_distance
current_distance += hall_scalar[1]
GPIO.setmode(GPIO.BOARD)
GPIO.setup(16, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(18, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(24, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(26, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.remove_event_detect(16)
GPIO.remove_event_detect(18)
GPIO.add_event_detect(16, GPIO.BOTH, callback=move_hall_edge, bouncetime=5)
GPIO.add_event_detect(18, GPIO.BOTH, callback=move_hall_edge, bouncetime=5)
def full_route():
global current_distance, mode
resp = master_cmd({"command": "dump_config"})
route = resp["route"]
master_cmd({"command": "set_status", "status": 1})
GPIO.output(23, GPIO.HIGH)
sleep(0.4)
GPIO.output(23, GPIO.LOW)
# 1> MOVE
for seg in route:
current_distance = 0
print "Move - " + str(seg)
if seg["direction"] == 0:
mode = 0
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": 1})
elif seg["direction"] == 1:
mode = 1
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": -1})
while (current_distance + 7) < seg["distance"]:
sleep(0.1)
master_cmd({"command": "stop_all_motors"})
sleep(1)
master_cmd({"command": "set_status", "status": 2})
# 2> LIFT
master_cmd({"command": "motor", "motor": 4, "direction": 1})
master_cmd({"command": "motor", "motor": 5, "direction": 1})
while GPIO.input(24):
sleep(0.1)
master_cmd({"command": "motor", "motor": 4, "direction": -1})
master_cmd({"command": "motor", "motor": 5, "direction": -1})
while not GPIO.input(24):
sleep(0.05)
master_cmd({"command": "stop_all_motors"})
# 3> DUMP
master_cmd({"command": "motor", "motor": 6, "direction": -1})
master_cmd({"command": "motor", "motor": 7, "direction": -1})
sleep(2.9)
master_cmd({"command": "stop_all_motors"})
sleep(1)
master_cmd({"command": "motor", "motor": 6, "direction": 1})
master_cmd({"command": "motor", "motor": 7, "direction": 1})
sleep(2.9)
master_cmd({"command": "stop_all_motors"})
# 4> DOWN
master_cmd({"command": "motor", "motor": 4, "direction": -1})
master_cmd({"command": "motor", "motor": 5, "direction": -1})
while GPIO.input(26):
sleep(0.1)
master_cmd({"command": "motor", "motor": 4, "direction": 1})
master_cmd({"command": "motor", "motor": 5, "direction": 1})
while not GPIO.input(26):
sleep(0.05)
master_cmd({"command": "stop_all_motors"})
master_cmd({"command": "set_status", "status": 1})
# 5> TURN AROUND
print "5"
current_distance = 0
mode = 1
around_distance = 180
if len(route) > 0:
if route[-1]["direction"] == 1 and route[-1]["distance"] < 180:
around_distance = 180 - route[-1]["distance"]
route.pop()
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": -1})
while (current_distance + 7) < around_distance:
sleep(0.1)
master_cmd({"command": "stop_all_motors"})
sleep(1)
# 6> GO BACK
print "6"
for seg in route:
current_distance = 0
print "Move - " + str(seg)
if seg["direction"] == 0:
mode = 0
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": 1})
elif seg["direction"] == 1:
seg["distance"] = 360 - seg["distance"]
mode = 1
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": -1})
while (current_distance + 7) < seg["distance"]:
sleep(0.1)
master_cmd({"command": "stop_all_motors"})
sleep(1)
# 7> TURN AROUND AGAIN
current_distance = 0
mode = 1
around_distance = 180
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": -1})
while (current_distance + 7) < around_distance:
sleep(0.1)
master_cmd({"command": "stop_all_motors"})
print "Completed!"
for i in range(3):
GPIO.output(23, GPIO.HIGH)
sleep(0.15)
GPIO.output(23, GPIO.LOW)
sleep(0.15)
master_cmd({"command": "set_status", "status": 0})
pass
from comms import master_cmd
from time import sleep
from constants import hall_scalar
import RPi.GPIO as GPIO
master_cmd({"command": "set_status", "status": 0})
master_cmd({"command": "stop_all_motors"})
current_distance = 0
mode = 0
def move_hall_edge(channel):
global current_distance, mode
if mode == 0:
print current_distance
current_distance += hall_scalar[0]
else:
print current_distance
current_distance += hall_scalar[1]
def full_route():
global current_distance, mode
resp = master_cmd({"command": "dump_config"})
route = resp["route"]
master_cmd({"command": "set_status", "status": 1})
GPIO.output(23, GPIO.HIGH)
sleep(0.4)
def full_route():
global current_distance, mode
resp = master_cmd({"command":"dump_config"})
route = resp["route"]
master_cmd({"command":"set_status","status":1})
GPIO.output(23, GPIO.HIGH)
sleep(0.4)
GPIO.output(23, GPIO.LOW)
# 1> MOVE
for seg in route:
current_distance = 0
print "Move - " + str(seg)
if seg["direction"] == 0:
mode = 0
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":1})
elif seg["direction"] == 1:
mode = 1
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":-1})
while (current_distance + 7) < seg["distance"]:
sleep(0.1)
master_cmd({"command":"stop_all_motors"})
sleep(1)
master_cmd({"command":"set_status","status":2})
# 2> LIFT
master_cmd({"command":"motor","motor":4,"direction":1})
master_cmd({"command":"motor","motor":5,"direction":1})
while GPIO.input(24):
sleep(0.1)
master_cmd({"command":"motor","motor":4,"direction":-1})
master_cmd({"command":"motor","motor":5,"direction":-1})
while not GPIO.input(24):
sleep(0.05)
master_cmd({"command":"stop_all_motors"})
# 3> DUMP
master_cmd({"command":"motor","motor":6,"direction":-1})
master_cmd({"command":"motor","motor":7,"direction":-1})
sleep(2.9)
master_cmd({"command":"stop_all_motors"})
sleep(1)
master_cmd({"command":"motor","motor":6,"direction":1})
master_cmd({"command":"motor","motor":7,"direction":1})
sleep(2.9)
master_cmd({"command":"stop_all_motors"})
# 4> DOWN
master_cmd({"command":"motor","motor":4,"direction":-1})
master_cmd({"command":"motor","motor":5,"direction":-1})
while GPIO.input(26):
sleep(0.1)
master_cmd({"command":"motor","motor":4,"direction":1})
master_cmd({"command":"motor","motor":5,"direction":1})
while not GPIO.input(26):
sleep(0.05)
master_cmd({"command":"stop_all_motors"})
master_cmd({"command":"set_status","status":1})
# 5> TURN AROUND
print "5"
current_distance = 0
mode = 1
around_distance = 180
if len(route) > 0:
if route[-1]["direction"] == 1 and route[-1]["distance"] < 180:
around_distance = 180 - route[-1]["distance"]
route.pop()
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":-1})
while (current_distance + 7) < around_distance:
sleep(0.1)
master_cmd({"command":"stop_all_motors"})
sleep(1)
# 6> GO BACK
print "6"
for seg in route:
current_distance = 0
print "Move - " + str(seg)
if seg["direction"] == 0:
mode = 0
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":1})
elif seg["direction"] == 1:
seg["distance"] = 360 - seg["distance"]
mode = 1
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":-1})
while (current_distance + 7) < seg["distance"]:
sleep(0.1)
master_cmd({"command":"stop_all_motors"})
sleep(1)
# 7> TURN AROUND AGAIN
current_distance = 0
mode = 1
around_distance = 180
master_cmd({"command":"motor","motor":2,"direction":1})
master_cmd({"command":"motor","motor":3,"direction":-1})
while (current_distance + 7) < around_distance:
sleep(0.1)
master_cmd({"command":"stop_all_motors"})
print "Completed!"
for i in range(3):
GPIO.output(23, GPIO.HIGH)
sleep(0.15)
GPIO.output(23, GPIO.LOW)
sleep(0.15)
master_cmd({"command":"set_status","status":0})
pass
from comms import master_cmd
from time import sleep
from constants import hall_scalar
import RPi.GPIO as GPIO
master_cmd({"command":"set_status","status":0})
master_cmd({"command":"stop_all_motors"})
current_distance = 0
mode = 0
def move_hall_edge(channel):
global current_distance, mode
if mode == 0:
print current_distance
current_distance += hall_scalar[0]
else:
print current_distance
current_distance += hall_scalar[1]
def full_route():
global current_distance, mode
resp = master_cmd({"command":"dump_config"})
route = resp["route"]
master_cmd({"command":"set_status","status":1})
GPIO.output(23, GPIO.HIGH)
sleep(0.4)
GPIO.output(23, GPIO.LOW)
def key(self, key):
if self.status == -1:
if key == 2:
return constants.SCR_SETTINGS
else:
return constants.SCR_NONE
elif self.status == 0:
if key == 0:
if self.selected > 0:
self.selected -= 1
if self.selected < self.scroll_top:
self.scroll_bot -= 1
self.scroll_top -= 1
return constants.SCR_NONE
elif key == 1:
if self.selected < (len(self.list_items) - 1):
self.selected += 1
if self.selected >= self.scroll_bot:
self.scroll_bot += 1
self.scroll_top += 1
return constants.SCR_NONE
elif key == 2:
return constants.SCR_SETTINGS
else:
if self.selected == (len(self.list_items) - 1):
master_cmd({
"command": "write_config",
"name": "route",
"value": self.route
})
return constants.SCR_SETTINGS
elif self.selected == (len(self.list_items) - 2):
self.temp_segment = {"direction": 0, "distance": 0}
self.status = 1
return constants.SCR_NONE
else:
self.status = 3
return constants.SCR_NONE
elif self.status == 1:
if key == 1:
self.temp_segment["direction"] -= 1
if self.temp_segment["direction"] < 0:
self.temp_segment["direction"] = 1
elif key == 0:
self.temp_segment["direction"] += 1
if self.temp_segment["direction"] > 1:
self.temp_segment["direction"] = 0
elif key == 2:
self.status = 0
else:
self.status = 2
return constants.SCR_NONE
elif self.status == 2:
if key == 1:
if self.temp_segment["distance"] > 0:
self.temp_segment["distance"] -= 5
elif key == 0:
self.temp_segment["distance"] += 5
elif key == 2:
self.status = 1
else:
self.route.append(self.temp_segment)
self.build_menu()
self.status = 0
return constants.SCR_NONE
elif self.status == 3:
if key == 2:
self.status = 0
elif key == 3:
self.route.pop(self.selected)
self.build_menu()
self.status = 0
return constants.SCR_NONE
return constants.SCR_NONE
def btn_edge(self, channel):
if GPIO.input(7):
print "Released!"
master_cmd({"command": "stop_all_motors"})
else:
if self.selected == 0:
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": 1})
elif self.selected == 1:
master_cmd({"command": "motor", "motor": 2, "direction": -1})
master_cmd({"command": "motor", "motor": 3, "direction": -1})
elif self.selected == 2:
master_cmd({"command": "motor", "motor": 0, "direction": 1})
master_cmd({"command": "motor", "motor": 1, "direction": 1})
elif self.selected == 3:
master_cmd({"command": "motor", "motor": 0, "direction": -1})
master_cmd({"command": "motor", "motor": 1, "direction": -1})
elif self.selected == 4:
master_cmd({"command": "motor", "motor": 4, "direction": 1})
master_cmd({"command": "motor", "motor": 5, "direction": 1})
elif self.selected == 5:
master_cmd({"command": "motor", "motor": 4, "direction": -1})
master_cmd({"command": "motor", "motor": 5, "direction": -1})
elif self.selected == 6:
master_cmd({"command": "motor", "motor": 4, "direction": 1})
elif self.selected == 7:
master_cmd({"command": "motor", "motor": 4, "direction": -1})
elif self.selected == 8:
master_cmd({"command": "motor", "motor": 5, "direction": 1})
elif self.selected == 9:
master_cmd({"command": "motor", "motor": 5, "direction": -1})
elif self.selected == 10:
master_cmd({"command": "motor", "motor": 6, "direction": 1})
master_cmd({"command": "motor", "motor": 7, "direction": 1})
elif self.selected == 11:
master_cmd({"command": "motor", "motor": 6, "direction": -1})
master_cmd({"command": "motor", "motor": 7, "direction": -1})
elif self.selected == 12:
master_cmd({"command": "motor", "motor": 6, "direction": 1})
elif self.selected == 13:
master_cmd({"command": "motor", "motor": 6, "direction": -1})
elif self.selected == 14:
master_cmd({"command": "motor", "motor": 7, "direction": 1})
elif self.selected == 15:
master_cmd({"command": "motor", "motor": 7, "direction": -1})
elif self.selected == 16:
master_cmd({"command": "motor", "motor": 2, "direction": 1})
master_cmd({"command": "motor", "motor": 3, "direction": -1})
elif self.selected == 17:
master_cmd({"command": "motor", "motor": 2, "direction": -1})
master_cmd({"command": "motor", "motor": 3, "direction": 1})
