def __init__( self, app, robotDriver, *arg, **kw ): Plan.__init__(self, app, *arg, **kw ) self.robot = robotDriver self.autonomous = False self.data = sensorDataInit() self.current_WP_list = 0 self.controller_State = controller_State() self.all_WP =0; #overall controller state self.state = 0 self.dir_to_wp = 1 self.initialized = 0 #states used to iterate the averaging filter self.cur_read = 0 self.sens1 = 0 self.sens2 = 0 self.num_reads = 3 self.valid_s_reads = 0 #INIT PATH SUB-STATES self.diff = 0 self.direction = 0 self.angle = 0 self.got_init_diff = 0 self.begin_search = 0 self.found_max = 0 self.try_move_to_line = 0 self.f_dir = 1 self.sens1_prev = 0 self.found_dir_to_line = 0 self.on_line = 0 self.tried_move = 0 self.ready_to_move = 1 #path follow sub_states self.ready_for_forward = 1 #other states self.one_wp_reached = 0 #work 10/31 self.prev_WP_list = None #things you dont have yet self.sens2_prev = 0 self.drift_guess1 = 0 self.drift_guess2 = 0 self.drift_dir = 1 self.old_line_angle = 0 self.new_line_angle = 0 self.keep_looking = 1 self.turn_transition = 0
def __init__( self, app, *arg, **kw ):
if kw.has_key("server"):
self.svrAddr = (kw['server'],WAYPOINT_MSG_PORT)
del kw['server']
else:
self.svrAddr = (WAYPOINT_HOST,WAYPOINT_MSG_PORT)
Plan.__init__(self, app, *arg, **kw )
self.sock = None
self.lastSensor = (0,None,None)
self.lastWaypoints = (0,[])
self.buf = ''
def __init__(self, app, *arg, **kw):
if "port" in kw:
sPort = int(kw.pop('port'))
else:
sPort = WAYPOINT_MSG_PORT
if "server" in kw:
self.svrAddr = (kw['server'], sPort)
del kw['server']
else:
self.svrAddr = (WAYPOINT_HOST, sPort)
Plan.__init__(self, app, *arg, **kw)
self.sock = None
self.lastSensor = (0, None, None)
self.lastWaypoints = (0, [])
self.buf = b''
def __init__(self, app, sensorPlan, movePlan, turnPlan, *arg, **kw):
# Init superclass
Plan.__init__(self, app, *arg, **kw)
# Establish member objects/variables
# Sensor plan object
self.sp = sensorPlan
# Dictionary containing information about state
self.stateInfo = {}
# Initialize stateInfo with holder values
self.initState()
# Save movement and turning plans
self.moveP = movePlan
self.turnP = turnPlan
self.stop = False
self.wait = WAIT_DUR
def __init__(self, app, servo, **kw):
Plan.__init__(self, app, **kw)
assert isinstance(servo, MX64Module), "only works with MX"
self.servo = servo
# servo units per rotation
self.aScl = 36000.0
# Units for RPM
self.rpmScl = 1 / 64.0
# Position offset of zero position
self.posOfs = 0
# Orientation of motor; change to -1 to flip
self.ori = 1
# Update rate -- time to sleep between controller updates
self.rate = 0.05
### Internal variables
self.desAng = 0
self.desRPM = 0
self.Kp = 25.0
self.Kv = 0
self._clearV()
self._v = nan
self.__dict__.update(kw)
self._ensure_motor = self._set_motor
self._ensure_servo = self._set_servo
def __init__(self, app, servo, **kw):
Plan.__init__(self,app,**kw)
assert isinstance(servo, MX64Module), "only works with MX"
self.servo = servo
# servo units per rotation
self.aScl = 36000.0
# Units for RPM
self.rpmScl = 1 / 64.0
# Position offset of zero position
self.posOfs = 0
# Orientation of motor; change to -1 to flip
self.ori = 1
# Update rate -- time to sleep between controller updates
self.rate = 0.05
### Internal variables
self.desAng = 0
self.desRPM = 0
self.Kp = 25.0
self.Kv = 0
self._clearV()
self._v = nan
self.__dict__.update(kw)
self._ensure_motor = self._set_motor
self._ensure_servo = self._set_servo
def __init__( self, app, *arg, **kw ): Plan.__init__(self, app, *arg, **kw ) self.sock = None self.lastSensor = (0,None,None) self.lastWaypoints = (0,[])