def get_input():
logger.log("I am ready to go!")
while running:
input = logger.prompt("Command?")
command = input.split(" ")
if len(command) == 2:
if command[0] == "r" or command[0] == "rot" or command[0] == "rotation":
arm.rot_servo.set_angle(float(command[1]))
elif command[0] == "b":
arm.b_servo.set_angle(float(command[1]))
elif command[0] == "a":
arm.a_servo.set_angle(float(command[1]))
elif command[0] == "c" or command[0] == "claw":
arm.claw_servo.set_angle(float(command[1]))
elif command[0] == "start":
start_task(command[1])
elif len(command) == 3:
if command[0] == "go" or command[0] == "move":
arm.move_to(float(command[1]), float(command[2]))
if command[0] == "force":
if command[1] == "r" or command[1] == "rot" or command[1] == "rotation":
arm.rot_servo.set_angle(float(command[2]), force=True)
elif command[1] == "b":
arm.b_servo.set_angle(float(command[2]), force=True)
elif command[1] == "a":
arm.a_servo.set_angle(float(command[2]), force=True)
elif command[1] == "c" or command[1] == "claw":
arm.claw_servo.set_angle(float(command[2]), force=True)
else:
if command[0] == "q" or command[0] == "quit":
shutdown()
elif command[0] == "r" or command[0] == "reset":
arm.reset_servos()
logger.log("Servos reset")
elif command[0] == "rest" or command[0] == "d" or command[0] == "disable":
arm.rest_servos()
logger.log("Servos set to rest")
elif command[0] == "open":
arm.open_claw()
logger.log("Opening claw")
elif command[0] == "close":
arm.close_claw()
logger.log("Closing claw")
elif command[0] == "up":
arm.b_servo.set_angle(80, arm.b_servo.rest)
elif command[0] == "down":
arm.b_servo.set_angle(0, arm.b_servo.rest)
elif command[0] == "left":
arm.rot_servo.set_angle(arm.ROT_MIN, arm.rot_servo.rest)
elif command[0] == "right":
arm.rot_servo.set_angle(arm.ROT_MAX, arm.rot_servo.rest)
elif command[0] == "back":
arm.a_servo.set_angle(-70, arm.a_servo.rest)
elif command[0] == "forward":
arm.a_servo.set_angle(0, arm.a_servo.rest)
elif command[0] == "hi" or command[0] == "hello" or command[0] == "greet":
start_task("hi")
else:
logger.log("Command '%s' not recognized" % (input), logger.Level.ERROR)
logger.log("Input thread stopped", logger.Level.DEBUG)
def do_restore_pkg(results):
if not logger.prompt('是否安装缺失包', results):
return
groups = list_group_by(results)
for group, args in groups.items():
putils.restore(group, args)
def do_add_config(results):
if not logger.prompt('是否添加配置', results):
return
groups = list_group_by(results)
for group, args in groups.items():
futils.add(group, args)
def do_restore_config(results):
if not logger.prompt('是否恢复配置', results):
return
groups = list_group_by(results)
for group, args in groups.items():
futils.restore(group, args)