def __init__(self, shared_stuff, cmd_queue, sensor_thread):
self.shared = shared_stuff
self.cmd_queue = cmd_queue
self.arm = arm.robotArm(self.shared)
self.drive = driveUnit.driveUnit()
self.current_speed = [None, None]
self.linedet = se.LineDetector()
self.state = None
self.stored_state = None
self.has_package = self.shared["hasPackage"] = False
self.station_queue = []
self.flush_timer = time.time()
self.arm_return_pos = None
self.carry_pos = (0, 100, 130, 0, 150, 140)
import time
from sensorThread import sensorThread
from driveUnit import driveUnit
from regulator import Regulator
shared_stuff = {"lineSensor" : [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"distance" : [0, 0],
"armPosition" : [0, 0, 255, 4, 5, 5],
"errorCodes" : ["YngveProgrammedMeWrong"],
"motorSpeed" : [50, 50],
"latestCalibration" : "0000-00-00-15:00",
"autoMotor" : True,
"autoArm" : False,
"regulator" : [0, 0]}
drive_unit = driveUnit()
sensor_thread = sensorThread(shared_stuff)
sensor_thread.daemon=True
sensor_thread.start()
regulator = Regulator(shared_stuff)
regulator.daemon = True
regulator.start()
l, r = 0, 0
while True:
time.sleep(0.01)
l, r = shared_stuff["regulator"]
"""a simple testprogram for the pcThread class that is used to connects to a user and receives commands and sends data back"""
from pcThread import pcThread
import Queue
import time
import copy
import driveUnit
import arm
robot_arm=arm.robotArm()
driver=driveUnit.driveUnit()
commandQueue=Queue.Queue()
sensorList= {"lineSensor" : [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"distance" : [0, 0],
"armPosition" : [0, 0, 255, 4, 5, 5],
"errorCodes" : ["YngveProgrammedMeWrong"],
"motorSpeed" : [70, 70],
"latestCalibration" : "0000-00-00-15:00",
"autoMotor" : True,
"autoArm" : False,
"regulator" : [0, 0],
"error" : 0}
pcThreadObject=pcThread(commandQueue,sensorList)
pcThreadObject.daemon=True
pcThreadObject.start()
while True:
if not commandQueue.empty():
command=(commandQueue.get())
if command[0]=="motorSpeed":
left=int(command[1][0])
right=int(command[1][1])
driver.setMotorLeft(left)
from driveUnit import driveUnit
from joystick import Joystick
import time
drive=driveUnit()
joy=Joystick()
while True:
driveUnit.setMotorLeft((-joy.y_axis()-joy.x_axis())*512)
driveunit.setMotorRight((-joy.y_axis()+joy.x_axis())*512)
time.sleep(0.1)
