fast=False, width=800, ymin=0, ymax=100, x=300, y=300)
y_position = gcurve(color=color.blue)
set_y_position = gcurve(color=color.red)
platform.pos = vector(0, 0, 0)
# Create modbus client
client = ModbusClient()
# Running visualization
while client.isConnected():
# Refresh rate
rate(10)
t += 0.1
# Read modbus addresses for data
response = client.readInt(address=12288, size=20)
x_pos = response[addresses['Ball X']]
y_pos = response[addresses['Ball Y']]
set_x_pos = response[addresses['Setpoint X']]
set_y_pos = response[addresses['Setpoint Y']]
roll = client.readFloat(address=addresses['Pitch'], size=2)
pitch = client.readFloat(address=addresses['Roll'], size=2)
# Convert to radians
pitch = translate(pitch, 0, 100, -8, 8)
roll = translate(roll, 0, 100, -8, 8)
pitch = pitch * pi / 180
roll = roll * pi / 180
# Graphing values
x_position.plot((t, constrain(x_pos, 0, 100)))
while 1:
# SPAM ALEXANDER
alex = ModbusClient(ip='158.38.140.63')
while alex.isConnected():
try:
test = input("type\n")
if str(test) == "1":
print("We in boiss")
# notify that we send shit
alex.sendInt(address=addresses['alex'], value=1)
loop = 1
for i in range(loop):
print("looped " + str(i) + " times...")
alex.sendInt(address=addresses['alex'], value=1)
read0 = alex.readInt(address=addresses['alf0'], size=1)
read1 = alex.readInt(address=addresses['alf1'], size=1)
read2 = alex.readInt(address=addresses['alf2'], size=1)
print("reading from: " + str(addresses['alf0']) +
", " + str(read0))
print("reading from: " + str(addresses['alf1']) +
", " + str(read1))
print("reading from: " + str(addresses['alf2']) +
", " + str(read2))
alex.sendInt(address=addresses['1'], value=69)
alex.sendInt(address=addresses['2'], value=2)
alex.sendInt(address=addresses['3'], value=2)
alex.sendInt(address=addresses['4'], value=state[3])
alex.sendInt(address=addresses['5'], value=1)
alex.sendInt(address=addresses['6'], value=state[5])
drawboard = ['2', '5', '6', '10', '11']
# Main loop
if __name__ == '__main__':
# Creating objects
cap = cv2.VideoCapture(1)
game = GameChecker(capture=cap, watch=False)
while 1:
PLS = ModbusClient(ip='158.38.140.63')
while PLS.isConnected():
try:
# Listens for when we want to start the program
start = PLS.readInt(address=207, size=1)
start = PLS.readInt(address=207, size=1)
print(str(start))
while str(start) == "[1]":
# Give system time to respond
time.sleep(0)
clean = game.cleanBoard()
# If the board is not clean, send request to wash
if not clean:
print("Wash please.")
time.sleep(0)
PLS.sendInt(address=32221, value=1)
print("Objects created.")
print("Client connecting...")
while client.isConnected():
try:
"""This is used for testing when I cannot use our
robot for testing when I am away from the LAB"""
string = str(input("enter below\n"))
print(string)
"""Just a test lmao"""
if string == "lmao":
print("epiclmao")
if string == "test123":
while 1:
test = client.readInt(address=31000, size=1)
print(test)
if str(test) == "[1]":
print("HEI KEVIN")
break
if string == "spam":
while 1:
client.sendInt(address=32000, value=1)
if string == "win":
win = game.getWinCombo()
print(win)
"""WORKS"""
if string == "pls":
while 1: