def traversalclass(dirpath):
filelist = {}
for filename in os.listdir(dirpath):
fname = os.path.splitext(filename)[0]
fex = os.path.splitext(filename)[1]
if fex == '.juggle':
file = open(dirpath+filename, 'r')
genfilestr = deletenote.deletenote(file.readlines())
smc = statemachine.statemachine()
smc.syntaxanalysis(genfilestr)
module = smc.getmodule()
struct = smc.getstruct()
filelist[fname] = {}
filelist[fname]['module'] = module
filelist[fname]['struct'] = struct
codegen.codegenclient(filelist)
codegen.codegenserver(filelist)
codegen.codegenstruct(filelist)
def traversalclass(dirpath):
filelist = {}
for filename in os.listdir(dirpath):
fname = os.path.splitext(filename)[0]
fex = os.path.splitext(filename)[1]
if fex == '.juggle':
file = open(dirpath+filename, 'r')
genfilestr = deletenote.deletenote(file.readlines())
smc = statemachine.statemachine()
smc.syntaxanalysis(genfilestr)
module = smc.getmodule()
struct = smc.getstruct()
filelist[fname] = {}
filelist[fname]['module'] = module
filelist[fname]['struct'] = struct
codegencaller(filelist)
codegenmodule(filelist)
codegenstruct(filelist)
data = data.split(',')
if(abs(float(data[1])) < 100):
x[1] = float(data[0])
x[4] = float(data[1])
elif(address % 10 == 3):# if the last digit of the remote IP address is 1, it means that the data is received from wireless module 3
flag3 = 1
data = data.split(',')
if(abs(float(data[1])) < 100):
x[2] = float(data[0])
x[5] = float(data[1])
if(flag1 == 1 and flag2 == 1 and flag3 == 1): # only if data is received from all three wireless modules, do the following
flag1 = flag2 = flag3 = 0 # reset the flags
t = millis() # obtain the current timestamp
dt = t - t_prev # calculate the difference between the timestamps
t_prev = t # current timestamp becomes previous timestamp for the next iteration
curr_state = statemachine(curr_state,x) # go through the state machine
u = act(curr_state,x) # compute the control signal (torque) based on the system state and state vector
if(motor_active): # if motor is active, then start logging the data
append_file(x,u,curr_state) # append the states, control signal and system state to file
flag_graph = 1
else:
if(flag_graph):
flag_graph = 0
close_file() # close the current file
copyfile('states_log.txt','states_log_saved.txt') # duplicate the current file
import graphs # show the graphs
clear_file() # clear the current file
torque = bytes(str(u),'utf-8')+bytes('\n','utf-8') # format the value to be sent to the microcontroller
print(dt,x,curr_state,torque) # show the variables on the console
ser.write(torque) # send the torque command to the microcontroller through serial port
def parser(str):
machine = statemachine.statemachine()
machine.syntaxanalysis(deletenote.deletenote(str))
return machine.getmodule()
def parser(str):
machine = statemachine.statemachine()
machine.syntaxanalysis(deletenote.deletenote(str))
return machine.getmodule(), machine.getenum()
