from robot import Bot
from time import sleep
robot = Bot('/dev/tty.usbmodem5d11')
rest_angles = (30, 30, 30)
rest_position = robot.forward_k(30, 30, 30)
center_angles = (40, 40, 40)
center_position = robot.forward_k(40, 40, 40)
top_angles1 = robot.inverse_k(0, rest_position[2] + 100, rest_position[3])
top_angles2 = robot.inverse_k(0, center_position[2] + 100, center_position[3])
bottom_angles1 = robot.inverse_k(0, rest_position[2] - 100, rest_position[3])
bottom_angles2 = robot.inverse_k(0, center_position[2] - 100,
center_position[3])
right_angles1 = robot.inverse_k(rest_position[2] + 100, 0, rest_position[3])
right_angles2 = robot.inverse_k(center_position[2] + 100, 0,
center_position[3])
left_angles1 = robot.inverse_k(rest_position[2] - 100, 0, rest_position[3])
left_angles2 = robot.inverse_k(center_position[2] - 100, 0, center_position[3])
robot.set_position(rest_angles)
sleep(.5)
print 'Center'
robot.set_position(center_angles)
sleep(.5)
robot.set_position(rest_angles)
sleep(2)
print 'Top'
robot.set_position(top_angles1)
driver = appium.Appium('Appium.RobotCalibration', argv[1])
driver.start()
# lower the pen until the ios device is touched
current_point = starting_position
screen_center = None
print 'Entering Calibration Loop'
while current_point <= 80 and screen_center == None:
current_point += 1
# exit if we did not touch the ios device
if current_point > 80:
raise Exception("Could not contact the iOS device")
bot.move(current_point, current_point, current_point)
screen_center = get_coords()
contact_point = bot.forward_k(current_point, current_point, current_point)
if contact_point[0] is not 0:
raise Exception('Could not detect contact point')
contact_point = (contact_point[1], contact_point[2], contact_point[3])
origin_point = bot.forward_k(starting_position, starting_position, starting_position)
if origin_point[0] is not 0:
raise Exception('Could not detect origin point')
origin_point = (origin_point[1], origin_point[2], origin_point[3])
# add a mapping to the screen center
mappings.append((screen_center, (bot.a.angle, bot.b.angle, bot.c.angle)))
# return the device to the original position
bot.move(starting_position,starting_position,starting_position)
from robot import Bot
from time import sleep
robot = Bot('/dev/tty.usbmodem5d11')
rest_angles = (30,30,30)
rest_position = robot.forward_k(30,30,30)
center_angles = (40,40,40)
center_position = robot.forward_k(40,40,40)
top_angles1 = robot.inverse_k(0, rest_position[2]+100, rest_position[3])
top_angles2 = robot.inverse_k(0, center_position[2]+100, center_position[3])
bottom_angles1 = robot.inverse_k(0, rest_position[2]-100, rest_position[3])
bottom_angles2 = robot.inverse_k(0, center_position[2]-100, center_position[3])
right_angles1 = robot.inverse_k(rest_position[2]+100, 0, rest_position[3])
right_angles2 = robot.inverse_k(center_position[2]+100, 0, center_position[3])
left_angles1 = robot.inverse_k(rest_position[2]-100, 0, rest_position[3])
left_angles2 = robot.inverse_k(center_position[2]-100, 0, center_position[3])
robot.set_position(rest_angles)
sleep(.5)
print 'Center'
robot.set_position(center_angles)
sleep(.5)
robot.set_position(rest_angles)
sleep(2)
print 'Top'
robot.set_position(top_angles1)
sleep(.5)
robot.set_position(top_angles2)
driver = appium.Appium('Appium.RobotCalibration', argv[1])
driver.start()
# lower the pen until the ios device is touched
current_point = starting_position
screen_center = None
print 'Entering Calibration Loop'
while current_point <= 80 and screen_center == None:
current_point += 1
# exit if we did not touch the ios device
if current_point > 80:
raise Exception("Could not contact the iOS device")
bot.move(current_point, current_point, current_point)
screen_center = get_coords()
contact_point = bot.forward_k(current_point, current_point, current_point)
if contact_point[0] is not 0:
raise Exception('Could not detect contact point')
contact_point = (contact_point[1], contact_point[2], contact_point[3])
origin_point = bot.forward_k(starting_position, starting_position,
starting_position)
if origin_point[0] is not 0:
raise Exception('Could not detect origin point')
origin_point = (origin_point[1], origin_point[2], origin_point[3])
# add a mapping to the screen center
mappings.append((screen_center, (bot.a.angle, bot.b.angle, bot.c.angle)))
# return the device to the original position
bot.move(starting_position, starting_position, starting_position)
