def main(screen, address):
# INIT CURSES LAYOUT COMPONENTS
curses.use_default_colors()
curses.curs_set(0)
screen.nodelay(True)
ymax, xmax = screen.getmaxyx()
clear = ''.join([' '] * (xmax - 1))
delimiter = ''.join(['_'] * (xmax - 1))
# CONSOLE DEQUE
console = deque(maxlen=25)
console.appendleft('Hello, World!')
# CONTROL VARS
toggle_plot = False
plot_accel = False
plot_gyro = False
plot_compass = False
wasd_mode = False
speed = 50
steering_ratio = 0.5
timeout = 10
# CONNECT TO ROVER
my_rover = Rover(address)
screen.addstr(1, 1, 'ROVER1', curses.A_STANDOUT)
screen.addstr(1, 7, ' connecting to ' + my_rover.address, curses.A_DIM)
screen.addstr(3, 1, 'DO NOT ADJUST YOUR TERMINAL', curses.A_BLINK)
screen.addstr(4, 1, 'YOU WILL BREAK SOMETHING', curses.A_BLINK)
screen.refresh()
my_rover.connect()
if my_rover.connected is True:
screen.clear()
screen.addstr(1, 1, 'ROVER1', curses.A_STANDOUT)
screen.addstr(1, 7, ' connected on ' + my_rover.address, curses.A_DIM)
screen.addstr(1, (xmax - 7), '[q]uit')
screen.addstr(2, 1, delimiter)
screen.addstr(ymax-2, 1, delimiter)
screen.addstr((ymax-1), 1, '[p]lot data')
screen.addstr((ymax-1), xmax/4, '[m]anual mode')
screen.refresh()
else:
print("Connection Failed")
exit()
while my_rover.connected is True:
# UPDATE CONSOLE
for i, message in enumerate(console):
screen.addstr((ymax - (i + 3)), 1, clear)
screen.addstr((ymax - (i + 3)), 1, message)
# READ FROM USER
user_input = screen.getch()
# MENU ACTIONS
if user_input == ord('q') and not wasd_mode:
exit()
if user_input == ord('p'):
toggle_plot = not(toggle_plot)
if toggle_plot is True:
console.appendleft('Select data to plot: [1] Accelerometer, [2] Gyroscope, [3] Compass')
console.appendleft('Plotting data significant increases delta t.')
console.appendleft('Press [p] to cancel')
else:
console.appendleft('Plotting cancelled')
if user_input == ord('1') and toggle_plot is True:
console.appendleft('Plotting Accelerometer Data')
plot_accel = True
toggle_plot = False
if user_input == ord('2') and toggle_plot is True:
console.appendleft('Plotting Gyro Data')
plot_gyro = True
toggle_plot = False
if user_input == ord('3') and toggle_plot is True:
console.appendleft('Plotting Compass Data')
plot_compass = True
toggle_plot = False
if user_input == ord('m'):
wasd_mode = not(wasd_mode)
if wasd_mode is True:
console.appendleft('Manual Mode using WASD keypad')
console.appendleft('Default Values:')
console.appendleft('Speed:\t\t{} with range 0:100'.format(speed))
console.appendleft('Turning Ratio:\t{} with range 0:1'.format(steering_ratio))
console.appendleft('Primary Controls:')
console.appendleft('w:\t\tForwards')
console.appendleft('a:\t\tBackwards')
console.appendleft('s:\t\tRatio Turn Left')
console.appendleft('d:\t\tRatio Turn Right')
console.appendleft('q:\t\t0 Turn Left\tOVERRIDES QUIT!')
console.appendleft('e:\t\t0 Turn Right')
console.appendleft('SPACE:\t\tBrake!')
console.appendleft('Secondary Controls:')
console.appendleft('x:\t\tIncrease Speed')
console.appendleft('z:\t\tDecrease Speed')
console.appendleft('r:\t\tIncrease Turn Ratio')
console.appendleft('t:\t\tDecrease Turn Ratio')
console.appendleft('Press [m] to cancel')
else:
console.appendleft('Manual Mode cancelled')
if wasd_mode is True and user_input == ord('w'):
my_rover.write2motors(0 - speed, 0 - speed)
timeout = 10
if wasd_mode is True and user_input == ord('s'):
my_rover.write2motors(speed, speed)
timeout = 10
if wasd_mode is True and user_input == ord('a'):
my_rover.write2motors((0 - speed), int(steering_ratio * (0 - speed)))
timeout = 10
if wasd_mode is True and user_input == ord('d'):
my_rover.write2motors(int(steering_ratio * (0 - speed)), (0 - speed))
timeout = 10
if wasd_mode is True and user_input == ord(' '):
my_rover.write2motors(0, 0)
timeout = 10
if wasd_mode is True and user_input == ord('q'):
my_rover.write2motors(int(0 - (speed)), int(speed))
timeout = 10
if wasd_mode is True and user_input == ord('e'):
my_rover.write2motors(int(speed), int(0 - (speed)))
timeout = 10
if wasd_mode is True and user_input == ord('x'):
if speed < 99:
speed += 1
console.appendleft('Speed: {}'.format(speed))
if wasd_mode is True and user_input == ord('z'):
if speed > 1:
speed -= 1
console.appendleft('Speed: {}'.format(speed))
if wasd_mode is True and user_input == ord('r'):
if steering_ratio < 0.9:
steering_ratio += 0.1
console.appendleft('Steering Ratio: {}'.format(steering_ratio))
if wasd_mode is True and user_input == ord('t'):
if steering_ratio > 0.1:
steering_ratio -= 0.1
console.appendleft('Steering Ratio: {}'.format(steering_ratio))
if wasd_mode is True and timeout < 0:
my_rover.write2motors(0, 0)
timeout = timeout - 1
# CONTROL ROVER
#my_rover.read()
_ = my_rover.log2curses(screen)
if plot_accel is True:
my_rover.plot_accel()
if not(my_rover.accel_plot.plotly_address in console):
console.appendleft(my_rover.accel_plot.plotly_address)
if plot_gyro is True:
my_rover.plot_gyro()
if not(my_rover.gyro_plot.plotly_address in console):
console.appendleft(my_rover.gyro_plot.plotly_address)
if plot_compass is True:
my_rover.plot_compass()
if not(my_rover.compass_plot.plotly_address in console):
console.appendleft(my_rover.compass_plot.plotly_address)
screen.refresh()
