class Controller():
def __init__(self, port="/dev/ttyACM1"):
self.robot_api = RobotAPI(port,115200)
def update(self, command):
if command is None:
return
speed = command["speed"]
direction = command["direction"]
kick = command["kick"]
log_time('dict_control')
log('speed', speed, 'dict_control')
log('direction', direction, 'dict_control')
log('kick', kick, 'dict_control')
if direction == "Forward":
log_time('dict_control', 'time go forward called')
if 'speedr' in command:
speed_right = command["speedr"]
self.robot_api.go_forward_asym(speed, speed_right)
else:
self.robot_api.go_forward(speed)
elif (direction == "Backward"):
self.robot_api.go_backward(speed)
elif (direction == "Right"):
self.robot_api.turn_right(speed)
elif (direction == "Left"):
self.robot_api.turn_left(speed)
elif (direction == "None"):
for i in range(0, 10):
self.robot_api.stop()
time.sleep(.001)
if (kick == "Kick"):
for i in range(0, 10):
self.robot_api.kick(100)
time.sleep(.001)
elif (kick == "Prepare"):
log_time("dict_control", "prepare")
for i in range(0, 10):
self.robot_api.prepare_catch()
time.sleep(.001)
elif (kick == "Catch"):
for i in range (0, 10):
self.robot_api.catch(100)
time.sleep(.001)
def main():
motor_speed = 100
# Prompt for the path to the RF dongle
serial_port = get_param("Enter path to serial port")
robot = RobotAPI(serial_port, 115200)
robot.enabled = True
x = 0
while x != ord('q'):
screen.clear()
screen.border(0)
screen.addstr(1, 2, "SDP Group 6 - Robot Control System")
screen.addstr(2, 2, "----------------------------------")
screen.addstr(4, 4, "1 - Go Forward")
screen.addstr(5, 4, "2 - Go Backward")
screen.addstr(6, 4, "3 - Turn Right")
screen.addstr(7, 4, "4 - Turn Left")
screen.addstr(8, 4, "5 - Stop")
screen.addstr(9, 4, "6 - Prepare for Catch")
screen.addstr(10, 4, "7 - Catch")
screen.addstr(11, 4, "8 - Kick")
screen.addstr(12, 4, "9 - Go forward n centimeters")
screen.addstr(13, 4, "0 - Go forward for n seconds")
screen.addstr(14, 4, "a - Go backward n centimeters")
screen.addstr(15, 4, "b - Set both motor speeds")
screen.addstr(17, 4, "s - Set motor speed")
screen.addstr(19, 4, "q - Quit")
screen.addstr(21, 2, "Please pick an option...")
screen.addstr(22, 2, "System Information")
screen.addstr(23, 2, "------------------")
screen.addstr(24, 2, "Serial Port: {0}".format(serial_port))
screen.addstr(25, 2, "Motor Speed: {0}".format(motor_speed))
screen.refresh()
x = screen.getch()
if x == ord('1'):
robot.go_forward(speed=motor_speed)
if x == ord('2'):
robot.go_backward(speed=motor_speed)
if x == ord('3'):
robot.turn_right(speed=motor_speed)
if x == ord('4'):
robot.turn_left(speed=motor_speed)
if x == ord('5'):
robot.stop()
if x == ord('6'):
robot.prepare_catch()
if x == ord('7'):
robot.catch(speed=motor_speed)
if x == ord('8'):
robot.kick(speed=motor_speed)
if x == ord('9'):
num_cm = get_param("Enter distance in centimeters")
robot.go_forward_for(int(num_cm))
if x == ord('a'):
num_cm = get_param("Enter distance in centimeters")
robot.go_backward_for(int(num_cm))
if x == ord('b'):
left_speed = int(get_param("Enter speed for left motor"))
right_speed = int(get_param("Enter speed for right motor"))
robot.set_both_wheels(left_speed, right_speed)
if x == ord('0'):
num_seconds = get_param("Enter number of seconds to drive for")
robot.forward_n_seconds(int(num_seconds))
if x == ord('s'):
motor_speed = int(get_param("Enter speed for motor from 1 to 100"))
curses.endwin()