def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_Dialog()
self.ui.setupUi(self)
# Set your serial Port/Baudrate/time between two value changes(in second) Here.
self.device = copter('/dev/ttyUSB0', 19200, 0)
#def event(self, event):
#print event.type()
#if (event.type()==QtCore.QEvent.KeyPress) and (event.key()==QtCore.Qt.Key_Tab):
#self.emit(QtCore.SIGNAL("tabPressed"))
#return True
#QtCore.QObject.connect(self.ui.verticalSlider, QtCore.SIGNAL("sliderMoved(int)"), self.adjust_rotor)
#QtCore.QObject.connect(self.ui.verticalSlider, QtCore.SIGNAL("valueChanged(int)"), self.adjust_rotor)
QtCore.QObject.connect(self.ui.pushButton, QtCore.SIGNAL("clicked()"), QtCore.QCoreApplication.instance().quit)
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("leftPressed"), lambda: self.device.adjust_direction('x', '-'))
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("rightPressed"), lambda: self.device.adjust_direction('x', '+'))
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("downPressed"), lambda: self.device.adjust_direction('y', '-'))
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("upPressed"), lambda: self.device.adjust_direction('y', '+'))
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("rotorUp"), lambda: self.device.adjust_rotor('+'))
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("rotorDown"), lambda: self.device.adjust_rotor('-'))
QtCore.QObject.connect(self.ui.dial, QtCore.SIGNAL("directionReleased"), self.device.init_direction)
# Test the tracking function of the copter.
import tracker
from helicopter import copter
import time;
# Set center calibaration, assuming it now.
range = 0.5
# set successive samples
sleep_time = 0;
#open up copter.
device=copter('/dev/ttyUSB0', 19200, 0)
def move():
x,y = tracker.track();
if x > range:
if x > 0:
value = '+'
else:
value = '-'
device.adjust_direction('x', value)
if y > range:
if y > 0:
value = '+'
else:
value = '-'
