pins[7].write(currentPower['left']) #motor_up_left) # stop on 93
pins[8].write(motor_claw)
#'''
# print datalist
for i in range(30):
print('\r\033[A\033[K', end='')
print('Trim: [{0}, {1}]'.format(trimUp['left'], trimUp['right']))
print(joystick1)
print(joystick2)
print(motor_a, motor_b)
print(180 - motor_c, motor_d)
print()
print(currentPower['left'], currentPower['right'])
print(motor_claw)
#global emergencyPower
if emergencyPower:
print('-----------------------')
print('-- MAX POWER ENABLED --')
print('-----------------------')
index = 0
for i in old:
print(index, i)
index += 1
webSocketClient.start('motor', process, ip="192.168.1.2")
[dealWithNumber(joysticks[i].get_button(x), 2) for x in range(6)])
# clear screen
for i in range(30):
# \r is a special character that makes print
# start at the beginning of the line, overwritting
# what is already there
#
# \033 is the ascii escape character for special
# terminal instructions
# \033[A moves the cursor up a line
# \033[K clears the line
# refer to http://ascii-table.com/ansi-escape-sequences.php
#
# the point of these are to clear the terminal screen
print('\r\033[A\033[K', end='')
# print data
print(allData)
# don't know what this is. Ask Danny or Yilou, but I doubt they know either
pygame.event.pump()
return json.dumps(allData) # returns values as json string
# start a web socket client
# type is "surface", handling function is getData
if __name__ == '__main__':
webSocketClient.start('surface', getData)
print('Trim: {0}'.format(trimUp['center']))
# display joystick values
print(joystick1)
print(joystick2)
# display power levels
print(motor_a, motor_b)
print(motor_up)
print()
#
# for debugging
# anything added to the old list will be printed here
#
# !!! IMPORTANT FOR DEBUGGING !!!
# because of the screen clearing,
# nothing printed before it will actually be visible
# as it will be deleted by the screen clearing.
# thus, any debug info to pring must be added to old
# so that it is printed here after the screen clearing
#
index = 0
for i in old:
print(index, i)
index += 1
# start the code
# ip should be of the surface pi
# type is 'miniROV'
webSocketClient.start('miniROV', process, ip="192.168.1.2")
# the point of these are to clear the terminal screen
print('\r\033[A\033[K', end='')
# print datalist info
print('Trim: [{0}, {1}]'.format(trimUp['left'], trimUp['right']))
print(joystick1)
print(motor_a, motor_b)
print(180 - motor_c, motor_d)
# motor_c is reversed so it is re-reversed here
print()
print(currentPower['left'], currentPower['right'])
print(motor_claw)
if emergencyPower:
print('-----------------------')
print('-- MAX POWER ENABLED --')
print('-----------------------')
# for debugging
for index, i in enumerate(old):
print(index, i)
# start a web socket client
# type is "motor", handling function is process
# ip is that of the server
if __name__ == '__main__':
webSocketClient.start('motor', process, ip="192.168.1.2")
webSocketClient.start('motor', camera_servo, ip="192.168.1.2")