from SerialInterface import SerialInterface
import time
from Logger import console
def increment(message):
console.log(message)
if message == "This is message number 0":
# console.log("Message correct")
pass
else:
console.log("Message incorrect")
interface = SerialInterface('/dev/tty.usbmodem1421', 115200)
interface.Listen()
interface.OnInput(increment)
message_count = 0
last_time = time.time()
while True:
cur_time = time.time()
if cur_time - last_time > 1:
# print('Recieved %s messages' % (message_count,))
last_time = cur_time
interface.Write('This is message number %s' % (message_count, ))
console.log('Sending message')
]
def toDegreeInt(num):
return int(num * 180 / math.pi)
def getStep(time):
for s in coords[::-1]:
if s[0] < time:
return s
return coords[-1]
inter = SerialInterface('/dev/tty.usbmodem1421', baud=115200)
inter.Listen()
time.sleep(1)
initial_time = time.time()
last_time = initial_time
while time.time() - initial_time < total_time:
cur_time = time.time()
if cur_time - last_time > interval:
last_time = cur_time
diff_ms = (cur_time - initial_time) * 1000
for leg in legs:
leg_time = (diff_ms * time_factor + leg[1]) % stride_duration
step = getStep(leg_time)
kneeAngle = toDegreeInt(step[2])
