def controlLoop(ip): global LIN_V, ANG_V word = None while ('end' != word and 'exit' != word): if len(cmd_buffer) > 0: word = cmd_buffer.pop(0) print word lv = 0 av = 0 if ('forward' == word or 'charge' == word): lv = LIN_V * 1 elif ('backward' == word or 'reverse' == word): lv = LIN_V * -1 elif ('right' == word): av = ANG_V * -1 elif ('left' == word): av = ANG_V * 1 elif ('faster' == word): LIN_V += 0.2 ANG_V += 0.2 print LIN_V, ANG_V elif ('slower' == word): LIN_V = LIN_V - 0.2 ANG_V = ANG_V - 0.2 print LIN_V, ANG_V elif ('stop' == word): lv = 0 av = 0 elif ('sing' == word): pkt = Packet() pkt.write_ubyte(CMD.SOUND) val = randint(0, 6) pkt.write_ubyte(val) sock.sendto(str(pkt), ip) else: pass pkt = Packet() pkt.write_ubyte(CMD.MOTION) pkt.write_double(lv) pkt.write_double(av) sock.sendto(str(pkt), ip) print('leaving control loop')
def controlLoop(ip): global LIN_V, ANG_V word = None while('end' != word and 'exit' != word): if len(cmd_buffer)> 0 : word = cmd_buffer.pop(0) print word lv = 0 av = 0 if('forward' == word or 'charge' == word): lv = LIN_V * 1 elif('backward' == word or 'reverse' == word): lv = LIN_V * -1 elif('right' == word): av = ANG_V * -1 elif('left' == word): av = ANG_V * 1 elif('faster' == word): LIN_V += 0.2 ANG_V += 0.2 print LIN_V, ANG_V elif('slower' == word): LIN_V = LIN_V - 0.2 ANG_V = ANG_V - 0.2 print LIN_V, ANG_V elif('stop' == word): lv = 0 av = 0 elif('sing' == word): pkt = Packet() pkt.write_ubyte(CMD.SOUND) val = randint(0, 6) pkt.write_ubyte(val) sock.sendto(str(pkt), ip) else: pass pkt = Packet() pkt.write_ubyte(CMD.MOTION) pkt.write_double(lv) pkt.write_double(av) sock.sendto(str(pkt), ip) print('leaving control loop')
print(sys.argv) addr = (sys.argv[1], int(float(sys.argv[2]))) print(addr) else: print('useage is leapNode address port') print('using default') try: keepAlive() while True: lv = 0 av = 0 frame = controller.frame() hand = frame.hands[0] if hand.palm_position.z < -30: lv = -1 elif hand.palm_position.z > 30: lv = 1 elif hand.palm_position.x < -30: av = -1 elif hand.palm_position.x > 30: av = 1 LIN_V, ANG_V = speed(hand.palm_position.y) pkt = Packet() pkt.write_ubyte(CMD.MOTION) pkt.write_double(-LIN_V * lv) pkt.write_double(-ANG_V * av) sock.sendto(str(pkt), addr) time.sleep(1) except KeyboardInterrupt: print("ending")
print(sys.argv) addr = (sys.argv[1],int(float(sys.argv[2]))) print(addr) else: print('useage is leapNode address port') print('using default') try: keepAlive() while True: lv = 0 av =0 frame = controller.frame() hand = frame.hands[0] if hand.palm_position.z < -30: lv = -1 elif hand.palm_position.z > 30: lv = 1 elif hand.palm_position.x < -30: av = -1 elif hand.palm_position.x > 30: av = 1 LIN_V,ANG_V = speed(hand.palm_position.y) pkt = Packet() pkt.write_ubyte(CMD.MOTION) pkt.write_double(-LIN_V * lv) pkt.write_double(-ANG_V * av) sock.sendto(str(pkt), addr) time.sleep(1) except KeyboardInterrupt: print("ending")