def __init__(self):
config = ConfigParser.RawConfigParser()
config.read('/home/pi/3YP/cube/cube.conf')
self.code = config.get("cube", "code")
self.secret_code = config.get("cube", "secret")
self.accel = Accel()
self.currentRotation = 0;
#Some preconfigured values...
self.XPos = json.loads(config.get("cube", "XPos"))
self.XNeg = json.loads(config.get("cube", "XNeg"))
self.YPos = json.loads(config.get("cube", "YPos"))
self.YNeg = json.loads(config.get("cube", "YNeg"))
self.ZPos = json.loads(config.get("cube", "ZPos"))
self.ZNeg = json.loads(config.get("cube", "ZNeg"))
class Cube:
UNKNOWN = 0;
XUP = 1;
XDOWN = 2;
YUP = 3;
YDOWN = 4;
ZUP = 5;
ZDOWN = 6;
def __init__(self):
config = ConfigParser.RawConfigParser()
config.read('/home/pi/3YP/cube/cube.conf')
self.code = config.get("cube", "code")
self.secret_code = config.get("cube", "secret")
self.accel = Accel()
self.currentRotation = 0;
#Some preconfigured values...
self.XPos = json.loads(config.get("cube", "XPos"))
self.XNeg = json.loads(config.get("cube", "XNeg"))
self.YPos = json.loads(config.get("cube", "YPos"))
self.YNeg = json.loads(config.get("cube", "YNeg"))
self.ZPos = json.loads(config.get("cube", "ZPos"))
self.ZNeg = json.loads(config.get("cube", "ZNeg"))
def get_rotation(self):
return self.currentRotation
def calibX(self):
#Raw input accepts empty input
raw_input("Place device upwards on a flat surface.")
self.XPos = [self.accel.getPercentX(), self.accel.getPercentY(), self.accel.getPercentZ()]
raw_input("Place device upside down on a flat surface.")
self.XNeg = [self.accel.getPercentX(), self.accel.getPercentY(), self.accel.getPercentZ()]
def calibY(self):
raw_input("Place device on it's side on a flat surface")
self.YPos = [self.accel.getPercentX(), self.accel.getPercentY(), self.accel.getPercentZ()]
raw_input("Place device on the opposite side on a flat surface")
self.YNeg = [self.accel.getPercentX(), self.accel.getPercentY(), self.accel.getPercentZ()]
def calibZ(self):
raw_input("Place device endways on a flat surface")
self.ZPos = [self.accel.getPercentX(), self.accel.getPercentY(), self.accel.getPercentZ()]
raw_input("Place device on the opposite side on a flat surface")
self.ZNeg = [self.accel.getPercentX(), self.accel.getPercentY(), self.accel.getPercentZ()]
def check_rotation(self):
lowerBound = 0.9
upperBound = 1.1
currentX = self.accel.getPercentX()
currentY = self.accel.getPercentY()
currentZ = self.accel.getPercentZ()
#We want to check if it matchs the calibration...
#First, X UP... (Rotates around Z Axis)
XDiff = abs(self.XPos[0] - currentX)
YDiff = abs(self.XPos[1] - currentY)
ZDiff = abs(self.XPos[2] - currentZ)
if( (XDiff < 10 or XDiff > 90)
and (YDiff < 10 or YDiff > 90)
and (ZDiff < 10 or ZDiff > 90) ):
self.currentRotation = Cube.XUP
#Then X DOWN...
XDiff = abs(self.XNeg[0] - currentX)
YDiff = abs(self.XNeg[1] - currentY)
ZDiff = abs(self.XNeg[2] - currentZ)
if( (XDiff < 10 or XDiff > 90)
and (YDiff < 10 or YDiff > 90)
and (ZDiff < 10 or ZDiff > 90) ):
self.currentRotation = Cube.XDOWN
#Then Y Pos... (Rotates around Y axis)
XDiff = abs(self.YPos[0] - currentX)
YDiff = abs(self.YPos[1] - currentY)
ZDiff = abs(self.YPos[2] - currentZ)
if( (XDiff < 10 or XDiff > 90)
and (YDiff < 10 or YDiff > 90)
and (ZDiff < 10 or ZDiff > 90) ):
self.currentRotation = Cube.YUP
#Then YNeg...
XDiff = abs(self.YNeg[0] - currentX)
YDiff = abs(self.YNeg[1] - currentY)
ZDiff = abs(self.YNeg[2] - currentZ)
if( (XDiff < 10 or XDiff > 90)
and (YDiff < 10 or YDiff > 90)
and (ZDiff < 10 or ZDiff > 90) ):
self.currentRotation = Cube.YDOWN
#Then ZPos... (Rotates around X axis)
XDiff = abs(self.ZPos[0] - currentX)
YDiff = abs(self.ZPos[1] - currentY)
ZDiff = abs(self.ZPos[2] - currentZ)
if( (XDiff < 10 or XDiff > 90)
and (YDiff < 10 or YDiff > 90)
and (ZDiff < 10 or ZDiff > 90) ):
self.currentRotation = Cube.ZUP
#Then ZNeg
XDiff = abs(self.ZNeg[0] - currentX)
YDiff = abs(self.ZNeg[1] - currentY)
ZDiff = abs(self.ZNeg[2] - currentZ)
if( (XDiff < 10 or XDiff > 90)
and (YDiff < 10 or YDiff > 90)
and (ZDiff < 10 or ZDiff > 90) ):
self.currentRotation = Cube.ZDOWN
else:
currentRotation = Cube.UNKNOWN
def __str__(self):
if( self.currentRotation == Cube.XUP):
return "X UP"
if( self.currentRotation == Cube.XDOWN ):
return "X DOWN"
if( self.currentRotation == Cube.YUP ):
return "Y UP"
if( self.currentRotation == Cube.YDOWN ):
return "Y DOWN"
if( self.currentRotation == Cube.ZUP ):
return "Z UP"
if( self.currentRotation == Cube.ZDOWN ):
return "Z DOWN"
return "UNKNOWN"
