def __init__(self):
print 'myhwengine'
self.abjoints=[]
self.hw=HwProtocol()
def __init__(self):
print 'myhwengine'
self.abjoints = []
self.hw = HwProtocol()
class MyHwEngine():
def __init__(self):
print 'myhwengine'
self.abjoints=[]
self.hw=HwProtocol()
def pw_on(self):
self.hw.digital_write(12, HwProtocol.HIGH)
def pw_off(self):
self.hw.digital_write(12, HwProtocol.LOW)
def start(self):
response=self.hw.connect(com='com6', baud=460800)
self.print_response(response)
self.hw.digital_config(12, HwProtocol.OUTPUT)
def registerjoint(self, abj):
self.abjoints.append(abj)
def configjoints(self):
pvals={}
if len(self.abjoints)==0:
return 'NO JOINTS'
for abj in self.abjoints:
pvals[abj.pin] =111
resp=self.hw.servo_config2(pvals)
return resp
def configjointspeed(self):
pvals={}
if len(self.abjoints)==0:
return 'NO JOINTS'
for abj in self.abjoints:
pvals[abj.pin] =abj.speed
resp=self.hw.servo_config_speed(pvals)
return resp
#sharp move.
def updatejoints(self):
rsp=self.readjoints()
pvals={}
if len(self.abjoints)==0:
return 'NO JOINTS'
for abj in self.abjoints:
if abj.gotnewvalue()==True:
pvals[abj.pin] =abj.getthenewvalue() #making the dictionary.
resp=self.hw.servo_write2(pvals)
return resp
#smoth move.
def updatejoints2(self):
rsp=self.readjoints()
#print 'rsp=',rsp
pvals={}
if len(self.abjoints)==0:
return 'NO JOINTS'
#find n-iter
nitr=1
njoints=[]
for abj in self.abjoints:
if abj.gotnewvalue()==True:
njoints.append(abj)
pvals[abj.pin] =abj.getthenewvalue() #making the dictionary.
nval=abj.getthenewvalue()
lstval=abj.getlastpos()
spd=abj.speed
nstep=math.ceil( math.fabs(nval-lstval)/spd)
if nstep>nitr:
nitr=nstep
#print 'pin=', abj.pin, 'lst=',lstval, 'nvl=',nval, 'nstep=',nstep
print 'smooth update: ncylce=', nitr
#now write value to hardware softly.
for i in range( int(nitr) ):
s='d'
nd={} #moduler dictionary.
for joint in njoints:
nxtval, ans=joint.getnextpossiblevalue(i)
nd[joint.pin]=nxtval #next value.
print 'cycle=',i, 'pin=', joint.pin, 'nxtval=',nxtval
#joint.moveto(nxtval) #next move.
#got the dictionary.
resp, option=self.hw.servo_write2(nd)
print 'cycle=', i ,'status=', resp
#update the old newval.
#resp, option=self.hw.servo_write2(pvals)
return resp
def readjoints(self):
pvals={}
if len(self.abjoints)==0:
return 'NO JOINTS'
for abj in self.abjoints:
pvals[abj.pin] =111
resp, option=self.hw.servo_read2(pvals)
#do update all registered joints.
print 'option=',option
if option !='':
printt='need'
#sr=2:65,3:150,4:93,5:93,6:93,7:93
option=option.split('=')[1]
parts=option.split(',')
pvals={}
for part in parts:
inf=part.split(':')
pn=inf[0]
vl=inf[1]
pvals[pn]=vl #making the dictionary.
self.update_registered_joints(pvals)
return resp
#local, private call. update all registered joints.
def update_registered_joints(self, pvals):
print 'updating registered joints'
if len(self.abjoints)==0:
return 'NO JOINTS'
for abj in self.abjoints:
for k, v in pvals.items():
if int(k)==abj.pin:
#print 'matched'
v=int(v)
abj.onhwnewval(v)
break
#one joint updated.
#all joints updated.
def print_response(self, response):
print 'printing response...'
for line in response:
print line
print '.....\n'
class MyHwEngine():
def __init__(self):
print 'myhwengine'
self.abjoints = []
self.hw = HwProtocol()
def pw_on(self):
self.hw.digital_write(12, HwProtocol.HIGH)
def pw_off(self):
self.hw.digital_write(12, HwProtocol.LOW)
def start(self):
response = self.hw.connect(com='com6', baud=460800)
self.print_response(response)
self.hw.digital_config(12, HwProtocol.OUTPUT)
def registerjoint(self, abj):
self.abjoints.append(abj)
def configjoints(self):
pvals = {}
if len(self.abjoints) == 0:
return 'NO JOINTS'
for abj in self.abjoints:
pvals[abj.pin] = 111
resp = self.hw.servo_config2(pvals)
return resp
def configjointspeed(self):
pvals = {}
if len(self.abjoints) == 0:
return 'NO JOINTS'
for abj in self.abjoints:
pvals[abj.pin] = abj.speed
resp = self.hw.servo_config_speed(pvals)
return resp
#sharp move.
def updatejoints(self):
rsp = self.readjoints()
pvals = {}
if len(self.abjoints) == 0:
return 'NO JOINTS'
for abj in self.abjoints:
if abj.gotnewvalue() == True:
pvals[abj.pin] = abj.getthenewvalue() #making the dictionary.
resp = self.hw.servo_write2(pvals)
return resp
#smoth move.
def updatejoints2(self):
rsp = self.readjoints()
#print 'rsp=',rsp
pvals = {}
if len(self.abjoints) == 0:
return 'NO JOINTS'
#find n-iter
nitr = 1
njoints = []
for abj in self.abjoints:
if abj.gotnewvalue() == True:
njoints.append(abj)
pvals[abj.pin] = abj.getthenewvalue() #making the dictionary.
nval = abj.getthenewvalue()
lstval = abj.getlastpos()
spd = abj.speed
nstep = math.ceil(math.fabs(nval - lstval) / spd)
if nstep > nitr:
nitr = nstep
#print 'pin=', abj.pin, 'lst=',lstval, 'nvl=',nval, 'nstep=',nstep
print 'smooth update: ncylce=', nitr
#now write value to hardware softly.
for i in range(int(nitr)):
s = 'd'
nd = {} #moduler dictionary.
for joint in njoints:
nxtval, ans = joint.getnextpossiblevalue(i)
nd[joint.pin] = nxtval #next value.
print 'cycle=', i, 'pin=', joint.pin, 'nxtval=', nxtval
#joint.moveto(nxtval) #next move.
#got the dictionary.
resp, option = self.hw.servo_write2(nd)
print 'cycle=', i, 'status=', resp
#update the old newval.
#resp, option=self.hw.servo_write2(pvals)
return resp
def readjoints(self):
pvals = {}
if len(self.abjoints) == 0:
return 'NO JOINTS'
for abj in self.abjoints:
pvals[abj.pin] = 111
resp, option = self.hw.servo_read2(pvals)
#do update all registered joints.
print 'option=', option
if option != '':
printt = 'need'
#sr=2:65,3:150,4:93,5:93,6:93,7:93
option = option.split('=')[1]
parts = option.split(',')
pvals = {}
for part in parts:
inf = part.split(':')
pn = inf[0]
vl = inf[1]
pvals[pn] = vl #making the dictionary.
self.update_registered_joints(pvals)
return resp
#local, private call. update all registered joints.
def update_registered_joints(self, pvals):
print 'updating registered joints'
if len(self.abjoints) == 0:
return 'NO JOINTS'
for abj in self.abjoints:
for k, v in pvals.items():
if int(k) == abj.pin:
#print 'matched'
v = int(v)
abj.onhwnewval(v)
break
#one joint updated.
#all joints updated.
def print_response(self, response):
print 'printing response...'
for line in response:
print line
print '.....\n'
