def main():
joystick = init_joystick()
device = hamr_serial.initialize(port,
baudrate,
timeout_=2,
write_timeout_=2)
hamr_serial.connect(device)
time.sleep(1)
# device.write(b'1')
# device.write(b'1')
sig_r_prev = 0
sig_l_prev = 0
sig_t_prev = 0
while (True):
time.sleep(.1)
commands = get_readings(joystick, 0)
# obtain signals
x = commands[0] # left/right
y = -commands[1] # forward/backward
theta = commands[2] # rotation
# round signals
sig_r = str(int(y * 10) / 10.0)
sig_l = str(int(x * 10) / 10.0)
sig_t = str(int(theta * 10) / 10.0)
# send data to HAMR
if (sig_r != sig_r_prev or sig_t != sig_t_prev):
sending = ""
if device.is_open:
sending = "sending:"
device.write(SIG_R_MOTOR)
device.write(sig_r)
time.sleep(.1)
# uncomment this part to send these signals
# device.write(SIG_L_MOTOR)
# device.write(sig_l)
# time.sleep(.1)
device.write(SIG_T_MOTOR)
device.write(sig_t)
time.sleep(.1)
sig_r_prev = sig_t
sig_l_prev = sig_l
sig_t_prev = sig_r
print sending + sig_r + ", " + sig_t
def main():
joystick = init_joystick()
device = hamr_serial.initialize(port, baudrate, timeout_=2, write_timeout_=2)
hamr_serial.connect(device)
time.sleep(1)
# device.write(b'1')
# device.write(b'1')
sig_r_prev = 0
sig_l_prev = 0
sig_t_prev = 0
while (True):
time.sleep(.1)
commands = get_readings(joystick, 0)
# obtain signals
x = commands[0] # left/right
y = -commands[1] # forward/backward
theta = commands[2] # rotation
# round signals
sig_r = str(int(y * 10) / 10.0)
sig_l = str(int(x * 10) / 10.0)
sig_t = str(int(theta * 10) / 10.0)
# send data to HAMR
if(sig_r != sig_r_prev or sig_t != sig_t_prev):
sending = ""
if device.is_open:
sending = "sending:"
device.write(SIG_R_MOTOR)
device.write(sig_r)
time.sleep(.1)
# uncomment this part to send these signals
# device.write(SIG_L_MOTOR)
# device.write(sig_l)
# time.sleep(.1)
device.write(SIG_T_MOTOR)
device.write(sig_t)
time.sleep(.1)
sig_r_prev = sig_t
sig_l_prev = sig_l
sig_t_prev = sig_r
print sending + sig_r + ", " + sig_t
def main():
global device
global reading # while this is true, thread_read is still alive
global continue_reading # If this is true, then the thread_read thread will not exit
# begin setup hamr serial connection
reading = False
device = hamr_serial.initialize(PORT, BAUDRATE, timeout_=.3, write_timeout_=.3)
# begin joystick thread
thread_joystick = threading.Thread(target=read_joystick)
thread_joystick.start()
# begin animating plot
anim = animation.FuncAnimation(fig, update_animation, init_func=init_blit, interval=GRAPH_UPDATE_DELAY, blit=BLIT)
plt.show()
# program was closed
continue_reading = False # tell thread_read to exit
while reading: pass # wait until thread_read has finished
device.close()
print 'Program Exitted'
def main():
global device
global reading # while this is true, thread_read is still alive
global continue_reading # If this is true, then the thread_read thread will not exit
# begin setup hamr serial connection
reading = False
device = hamr_serial.initialize(PORT, BAUDRATE, timeout_=0.3, write_timeout_=0.3)
# begin joystick thread
thread_joystick = threading.Thread(target=read_joystick)
thread_joystick.start()
# begin animating plot
anim = animation.FuncAnimation(fig, update_animation, init_func=init_blit, interval=GRAPH_UPDATE_DELAY, blit=BLIT)
plt.show()
# program was closed
continue_reading = False # tell thread_read to exit
while reading:
pass # wait until thread_read has finished
device.close()
print "Program Exitted"
def initialize_hamr():
global device
device = hamr_serial.initialize(port, baudrate, timeout_=2, write_timeout_=2)
hamr_serial.connect(device)
time.sleep(1)