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remove old beast code

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shrkey
2016-03-01 23:04:15 +00:00
parent 204ab67d86
commit b454055c1d
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beastrov.py
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# -*- 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 <http://www.gnu.org/licenses/gpl-3.0.txt>.
'''
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)