def test_run_silent():
port = populate_ports()[-2]
s = connect(port)
time.sleep(5) # wait for the arduino to initialize
talk(s, setup_cmds)
time.sleep(1)
talk(s, [run_short_cmds[0]])
time.sleep(1.5)
talk(s, [run_short_cmds[1]])
time.sleep(1.5)
talk(s, [run_short_cmds[0]])
time.sleep(1.5)
talk(s, [run_short_cmds[1]])
time.sleep(1.5)
talk(s, [run_short_cmds[0]])
time.sleep(1.5)
talk(s, [run_short_cmds[1]])
time.sleep(2)
s.close()
return
def test_run():
port = populate_ports()[-2]
print("\n[setup] Connecting to port: {}".format(port))
s = connect(port)
time.sleep(5) # wait for the arduino to initialize
print(listen(s))
print("\n[setup] Sending setup commands..")
talk(s, setup_cmds)
time.sleep(1)
print("\n[action] Sending run commands..")
# talk(s, run_cmds)
talk(s, [run_short_cmds[0]])
time.sleep(1.5)
talk(s, [run_short_cmds[1]])
time.sleep(2)
print("\n[action] Closing port..")
s.close()
return
def test_pause_resume():
port = populate_ports()[-1]
print("\n[setup] Connecting to port: {}".format(port))
s = connect(port)
time.sleep(5) # wait for the arduino to initialize
print(listen(s))
print("\n[setup] Sending setup commands..")
talk(s, setup_cmds)
time.sleep(1)
print("\n[action] Sending run commands..")
talk(s, run_cmds)
time.sleep(1)
print("\n[action] Sending pause commands..")
talk(s, pause_cmds)
time.sleep(1)
print("\n[action] Sending resume commands..")
talk(s, resume_cmds)
print("\n[action] Closing port..")
s.close()
return
def populate_ports(self): self.ui.motor_port_COMBO_BOX.clear() self.ui.encoder_port_COMBO_BOX.clear() ports = populate_ports() self.ui.motor_port_COMBO_BOX.addItems(ports) self.ui.encoder_port_COMBO_BOX.addItems(ports) self.ui.motor_port_COMBO_BOX.setCurrentIndex(0) self.ui.encoder_port_COMBO_BOX.setCurrentIndex(0) self.motor_port = ports[0] self.encoder_port = ports[0]
def test_stream():
print(populate_ports())
port = populate_ports()[1]
print("\n[setup] Connecting to port: {}".format(port))
s = connect(port)
time.sleep(5) # wait for the arduino to initialize
print(listen(s))
plt.ion() ## Note this correction
fig=plt.figure()
t = []
x = []
v = []
while True:
while s.inWaiting() == 0:
pass
data = listen(s).split(",")
data = [float(i) for i in data]
t_tmp, x_tmp, v_tmp = data
print("{}\t{}\t{}".format(t_tmp, x_tmp, v_tmp))
t.append(t_tmp)
x.append(x_tmp)
v.append(v_tmp)
plt.scatter(t_tmp, x_tmp)
plt.pause(0.0001)
#print(t_tmp, "\t", x_tmp, "\t", v_tmp)
#plt.show()
s.close()
def test_valid_cmd():
port = populate_ports()[-1]
print("\n[setup] Connecting to port: {}".format(port))
s = connect(port)
time.sleep(5) # wait for the arduino to initialize
print(listen(s))
print("\n[setup] Sending setup commands..")
talk(s, setup_cmds)
time.sleep(1)
print("\n[action] Sending invalid run commands.. nothing should happen..")
talk(s, invalid_cmds)
print("\n[action] Closing port..")
s.close()
return
def test_profile_1():
port = populate_ports()[-1]
print("\n[setup] Connecting to port: {}".format(port))
s = connect(port)
time.sleep(5)
print(listen(s))
print("\n[setup] Sending setup commands..")
talk(s, setup_cmds)
time.sleep(1)
print("\n[action] Sending first profile.. speed = 0")
talk(s, ["<SET_SPEED,100,0,0,0>"])
talk(s, ["<RUN,100,5000,0,0>"])
time.sleep(2)
print("\n[action] Sending first profile.. speed = 400")
# talk(s, ["<STOP,100,0,0,0>"])
talk(s, ["<SET_SPEED,100,400,0,0>"])
talk(s, ["<RUN,100,5000,0,0>"])
time.sleep(2)
print("\n[action] Sending first profile.. speed = 200")
# talk(s, ["<STOP,100,0,0,0>"])
talk(s, ["<SET_SPEED,100,200,0,0>"])
talk(s, ["<RUN,100,5000,0,0>"])
time.sleep(2)
print("\n[action] Sending first profile.. speed = 800")
# talk(s, ["<STOP,100,0,0,0>"])
talk(s, ["<SET_SPEED,100,800,0,0>"])
talk(s, ["<RUN,100,5000,0,0>"])
time.sleep(2)
print("\n[action] Stopping..")
talk(s, ["<STOP,100,0,0,0>"])
print("\n[action] Closing port..")
s.close()