import time
import motor_lib
motor_lib.io1.wiringPiSetupGpio()
dc_motor_1 = motor_lib.pwmMotorDriver(18,17,22)
while True:
ts_cmd = raw_input('Direction--> ')
if ts_cmd == "c":
dc_motor_1.rotate(1,10)
if ts_cmd == "w":
dc_motor_1.rotate(-1,10)
if ts_cmd == "s":
dc_motor_1.stop()
whattype = [0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 2, 2, 2,
2, 2, 2, 3, 3, 3, 3, 3, 2, 1,
1, 1, 0, 0, 0, 1, 1, 2, 2, 3,
3, 3, 3, 2, 2, 2, 2, 2, 2, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
0, 0, 0, 0, 0, 0, 0, 0, 0, 2]
motor_lib.io1.wiringPiSetupGpio()
motor1 = motor_lib.stepperdriver(6400,13,19)#picker_motor (step_per_rotate,pulse,director)
motor2 = motor_lib.stepperdriver(6400,5,6)#volacity_motor
motor3 = motor_lib.pwmMotorDriver(18,22,17)#string_turning_motor(p_pin,in_b_pin,in_a_pin)
motor4 = motor_lib.tstepdriver()#slider_motor
ips = commands.getoutput("/sbin/ifconfig | grep -iA2 \"eth0\" | grep -i \"inet\" | grep -iv \"inet6\" | " +
"awk {'print $2'} | sed -ne 's/addr\://p'")
iplist = ips.split(".")
whoami = int(iplist[3])
UDP_IP = iplist[0] + "." + iplist[1] + "." + iplist[2] + "." + str(whoami-100)
whoami = whoami - 101
UDP_PORT = 5005
sock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
sock.bind(("", UDP_PORT))
soffset = [1910, 1910, 1910, 1910] # S,A,T,B
#------------------------------------------------------------------------
#Code Written by: Albert Lin from Noise Kitchen
#Current Project: noisekitchen.tw
#------------------------------------------------------------------------
#------------------------------------------------------------------------
import motor_lib
import socket
import os
#------------------------------------------------------------------------
#tp=[]
motor_lib.io1.wiringPiSetupGpio()
motor1 = motor_lib.stepperdriver(6400,20,16)#picker_motor
motor2 = motor_lib.stepperdriver(6400,24,23)#volacity_motor
motor3 = motor_lib.pwmMotorDriver(17,27,22)#string_turning_motor
motor4 = motor_lib.tstepdriver()#slider_motor
UDP_IP = "192.168.12.78"
UDP_PORT = 5005
sock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
sock.bind(("", UDP_PORT))
iftsh = False
iftph = False
iftvh = False
while False == iftsh or False == iftph or False == iftvh:
#while False:
data, addr = sock.recvfrom(1024)
if data == "tsh":