From b454055c1d55966166837d0a9f1b01ff9a02e6cb Mon Sep 17 00:00:00 2001 From: shrkey Date: Tue, 1 Mar 2016 23:04:15 +0000 Subject: [PATCH] remove old beast code --- beastrov.py | 274 ---------------------------------------------------- 1 file changed, 274 deletions(-) delete mode 100644 beastrov.py diff --git a/beastrov.py b/beastrov.py deleted file mode 100644 index c040caa..0000000 --- a/beastrov.py +++ /dev/null @@ -1,274 +0,0 @@ -# -*- coding: utf-8 -*- -#!/usr/bin/env python -######################################################################## -# This example controls the GoPiGo and using a PS3 Dualshock 3 controller -# -# http://www.dexterindustries.com/GoPiGo/ -# History -# ------------------------------------------------ -# Author Date Comments -# Karan Nayan 11 July 14 Initial Authoring -''' -## License - GoPiGo for the Raspberry Pi: an open source robotics platform for the Raspberry Pi. - Copyright (C) 2015 Dexter Industries - -This program is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program. If not, see . -''' -import serial, sys, time ,os, math -from ps3 import * #Import the PS3 library -import scrollphat -from dw640HAT import dw_MotorCONTROL, dw_DCMotor - -def showmotor(controller, row, motorval): - if controller == "ab": - row = row + 6 - - #print motorval - - if motorval == 0: - for n in range(5): - scrollphat.set_pixel(row,n,0) - scrollphat.update() - else: - steps = int(round((abs(motorval) - BASE_MOTOR_POWER) / 21)) - for n in range(5): - if n <= steps: - scrollphat.set_pixel(row,n,1) - scrollphat.update() - else: - scrollphat.set_pixel(row,n,0) - scrollphat.update() - - return - -def toggle(controller): - #sendcommand(controller.identifier + "-t();") - return - -def timerstart(controller): - #sendcommand(controller.identifier + "-ts();") - return - -def motor(controller, port, starboard, depth): - #mleft.setMotorSpeed(port) - #mright.setMotorSpeed(starboard) - #mvert.setMotorSpeed(depth) - #sendcommand(controller.identifier + "-m(" + str(port) + "," + str(starboard) + "," + str(depth) + ");") - return - -def port(controller, speed): - #print port - mleft.setMotorSpeed(speed) - - showmotor(controller, 2, speed) - - #print speed - #sendcommand(controller.identifier + "-p(" + port + ");") - return - -def starboard(controller, speed): - #print starboard - mright.setMotorSpeed(speed) - - showmotor(controller, 0, speed) - - #print speed - #sendcommand(controller.identifier + "-s(" + starboard + ");") - return - -def depth(controller, speed): - #print depth - mvert.setMotorSpeed(speed) - - showmotor(controller, 4, speed) - - #print speed - #sendcommand(controller.identifier + "-v(" + str(depth) + ");") - return - -def direction(controller, port, starboard): - #mleft.setMotorSpeed(port) - #mright.setMotorSpeed(starboard) - #sendcommand(controller.identifier + "-d(" + str(port) + "," + str(starboard) + ");") - return - -def sendcommand( cmd ): - #print(cmd.encode()) - return - -def tolarge( reading ): - return int(reading * 100) - -def calcleftmotor( x, y ): - #print(x) - #print(y) - v = (100 - abs(x)) * (y/100) + y - #print(v) - w = (100 - abs(y)) * (x/100) + x - #print(w) - speed = (v-w)/2 - #print(speed) - return int(speed) - -def calcrightmotor( x, y ): - v = (100 - abs(x)) * (y/100) + y - w = (100 - abs(y)) * (x/100) + x - speed = (v+w)/2 - #print(speed) - return int(speed) - -def translate(value,leftmin, leftmax, rightmin, rightmax): - leftspan = leftmax - leftmin - rightspan = rightmax - rightmin - - scaled = float(value - leftmin) / float(leftspan) - return int(rightmin + (scaled * rightspan)) - -# seconds we wait before sending another button press -BUTTON_LAG = 0.5 - -BASE_MOTOR_POWER = 150 - -scrollphat.clear() -scrollphat.set_brightness(2) - -# The start logo - all bloody for haloween -print(" ███▄ ▄███▓ ██▓ ▄████▄ ██▀███ ▒█████ ██▀███ ▒█████ ██▒ █▓") -print("▓██▒▀█▀ ██▒▓██▒▒██▀ ▀█ ▓██ ▒ ██▒▒██▒ ██▒▓██ ▒ ██▒▒██▒ ██▒▓██░ █▒") -print("▓██ ▓██░▒██▒▒▓█ ▄ ▓██ ░▄█ ▒▒██░ ██▒▓██ ░▄█ ▒▒██░ ██▒ ▓██ █▒░") -print("▒██ ▒██ ░██░▒▓▓▄ ▄██▒▒██▀▀█▄ ▒██ ██░▒██▀▀█▄ ▒██ ██░ ▒██ █░░") -print("▒██▒ ░██▒░██░▒ ▓███▀ ░░██▓ ▒██▒░ ████▓▒░░██▓ ▒██▒░ ████▓▒░ ▒▀█░ ") -print("░ ▒░ ░ ░░▓ ░ ░▒ ▒ ░░ ▒▓ ░▒▓░░ ▒░▒░▒░ ░ ▒▓ ░▒▓░░ ▒░▒░▒░ ░ ▐░ ") -print("░ ░ ░ ▒ ░ ░ ▒ ░▒ ░ ▒░ ░ ▒ ▒░ ░▒ ░ ▒░ ░ ▒ ▒░ ░ ░░ ") -print("░ ░ ▒ ░░ ░░ ░ ░ ░ ░ ▒ ░░ ░ ░ ░ ░ ▒ ░░ ") -print(" ░ ░ ░ ░ ░ ░ ░ ░ ░ ░ ░ ") -print(" ░ ░ ") - - -print("Initializing...") - -print("Attaching Motors") -dw = dw_MotorCONTROL( addr=0x60 ) -# Swap for different address if also using scrollphat -#dw = dw_MotorCONTROL( addr=0x61 ) -mleft = dw.getMotor(2) -mright = dw.getMotor(1) -mvert = dw.getMotor(3) - -controllerlist = [] - -# create a ps3 object - we want to handle up to two controllers -p=ps3() #Create a PS3 object -if p.joystick_count == 1: - print("Found controller 1 - ") - p.select_joystick(0) - controllerlist.append(p) - print("Setting ID to " + p.identifier) -elif p.joystick_count == 2: - print("Found controller 1 - ") - p.select_joystick(0) - controllerlist.append(p) - print("Setting ID to " + p.identifier) - ptwo=ps3() - print("Found controller 2 - ") - ptwo.select_joystick(1) - controllerlist.append(ptwo) - print("Setting ID to " + ptwo.identifier) - -print("Ready") -s=150 #Initialize -run=1 -flag=0 -tolerance=0.01 -while True: - try: - for ps in controllerlist: - ps.update() #Read the ps3 values - if ps.select: - # Select toggle button pressed - if (time.time() - ps.lastbuttontime) > BUTTON_LAG or ps.lastbuttontime == 0: - ps.lastbuttontime = time.time() - toggle(ps) - elif ps.start: - # Start / stop timer button pressed - if (time.time() - ps.lastbuttontime) > BUTTON_LAG or ps.lastbuttontime == 0: - ps.lastbuttontime = time.time() - timerstart(ps) - - if ps.r1: - if (time.time() - ps.lastbuttontime) > BUTTON_LAG or ps.lastbuttontime == 0: - ps.lastbuttontime = time.time() - motordepth = -255 - if motordepth != ps.lastvert: - ps.lastvert = motordepth - depth(ps, motordepth) - elif ps.r2: - if (time.time() - ps.lastbuttontime) > BUTTON_LAG or ps.lastbuttontime == 0: - ps.lastbuttontime = time.time() - motordepth = 255 - if motordepth != ps.lastvert: - ps.lastvert = motordepth - depth(ps, motordepth) - else: - motordepth = 0 - if motordepth != ps.lastvert: - ps.lastvert = motordepth - depth(ps, motordepth) - - - lefty=(ps.a_joystick_left_y) - righty=(ps.a_joystick_right_y) - - # control the left motor - if abs(lefty) > tolerance: - motorleft = -translate(tolarge(lefty), -100, 100, -255, 255) - if motorleft > 0 and motorleft < BASE_MOTOR_POWER: - motorleft = BASE_MOTOR_POWER - elif motorleft <0 and abs(motorleft) < BASE_MOTOR_POWER: - motorleft = -BASE_MOTOR_POWER - - if motorleft != ps.lastleft: - port(ps, motorleft) - ps.lastleft = motorleft - else: # at rest - motorleft = 0 - if motorleft != ps.lastleft: - port(ps, motorleft) - ps.lastleft = motorleft - - - # control the right motor - if abs(righty) > tolerance: - motorright = -translate(tolarge(righty), -100, 100, -255, 255) - if motorright > 0 and motorright < BASE_MOTOR_POWER: - motorright = BASE_MOTOR_POWER - elif motorright <0 and abs(motorright) < BASE_MOTOR_POWER: - motorright = -BASE_MOTOR_POWER - - if motorright != ps.lastright: - starboard(ps,motorright) - ps.lastright = motorright - else: - # at rest - motorright = 0 - if motorright != ps.lastright: - starboard(ps,motorright) - ps.lastright = motorright - - time.sleep(.01) - except KeyboardInterrupt: - scrollphat.clear() - dw.allOff() - sys.exit(-1)