Changeset 241

Timestamp:

12/04/10 15:27:00 (10 years ago)

Author:

sc

Message:

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py:

• module potentially complete from GUI control perspective

File:

• trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py (modified) (7 diffs)

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py

@@ -10 +10 @@
 
 __changelog__ = """
-Last Update: 2010.11.30
+Last Update: 2010.12.04
 
 """
@@ -37 +37 @@
 DEFAULT_COMMAND = 'console'
 DEFAULT_SERIAL_DEVICE = '/dev/ttyACM0'
+
+DEFAULT_WHEELCHAIR_SPEED = 1
+DEFAULT_WHEELCHAIR_COMMAND = 'stop'
+
 ARDUINO_INITIALIZATION_TIME = 2
 COMMAND_CHARACTER = 'x'
+GUI_SLEEP_TIMER = 1 * 100 # 100ms
 
 WHEELCHAIR_COMMANDS = {
-        'stop': '00110011',
-        'speed0': {
-                'stop': '00110011', 
-        },
-        'speed1': {
+        1: { # speed
                 'forward': '00110001',
                 'reverse': '00111011',
                 'left': '10110011',
-                'right': '00010011'
+                'right': '00010011',
+                'stop': '00110011', 
         },
-        'speed2': {
+        2: { # speed
                 'forward': '00110010',
                 'reverse': '00110111',
                 'left': '01110011',
-                'right': '00100011'
+                'right': '00100011',
+                'stop': '00110011', 
         },
-        'speed3': {
+        3: { # speed
                 'forward': '00110000',
                 'reverse': '00111111',
                 'left': '11110011',
-                'right': '00000011'
+                'right': '00000011',
+                'stop': '00110011', 
         },
 }
@@ -112 +116 @@
                 self.command = command
                 
-                self.device = self.initializeSerial()
+                self.wheelchair_speed = DEFAULT_WHEELCHAIR_SPEED
+                self.wheelchair_command = DEFAULT_WHEELCHAIR_COMMAND
+                
+                self.device = None
+                self.initializeSerial()
+                
+                self.keep_running = True
         
         
@@ -173 +183 @@
                         init_rts_cts_flow_control = 0
                 
-                device = serial.Serial(port = self.device_address, \
+                self.device = serial.Serial(port = self.device_address, \
                                                                                 baudrate = baudrate, \
                                                                                 bytesize = init_byte_size, \
@@ -182 +192 @@
                                                                                 timeout = timeout)
                 
-                device.write('%s%s' % (COMMAND_CHARACTER, WHEELCHAIR_COMMANDS['stop']))
+                
+                self.send_command(self.wheelchair_speed, self.wheelchair_command)
+                
+                time.sleep(ARDUINO_INITIALIZATION_TIME)
+                
+                return(device)
+        
+        
+        ##################################################################
+        
+        def send_command(self, speed, command):
+        
+                self.device.write('%s%s' % (COMMAND_CHARACTER, \
+                        WHEELCHAIR_COMMANDS[speed][command]))
+                
                 if self.DEBUG:
-                        print "--> Wheelchair Command:",
-                        print 'stop'
-                
-                time.sleep(ARDUINO_INITIALIZATION_TIME)
-                
-                return(device)
-        
-        
-        ##################################################################
-        
-        def processCommand(self):
-                
-                if (self.command == 'console'):
-                        self.console_control()
-                
-                #elif (self.command == 'neutral'):
-                        #self.mode = 'write'
-                        #self.neutral()
+                        print "--> Wheelchair Command: %s [Speed %i]" % \
+                           (command, speed)
+                
+                self.wheelchair_speed = speed
+                self.wheelchair_command = command
         
         
@@ -254 +265 @@
         def console_control(self):
 
-                #device = self.initializeSerial()
-
+                if (sys.platform == 'win32'):
+                        if self.DEBUG:
+                                print "---> Wheelchair Control: Console mode unavailable under Windows"
+                        
+                        self.exitThread()
+                
+                
                 MYGETCH = Getch()
-
+                
                 #initAlarm()
-
+                
                 self.stopBot()
-
-                speed = 1
+                
+                speed = DEFAULT_WHEELCHAIR_SPEED
                 while True:
                         cmd = MYGETCH()
@@ -281 +297 @@
         ##################################################################
         
+        #def gui_control(self):
+                
+                #while self.keep_running:
+                        
+                        #QtCore.QThread.msleep(GUI_SLEEP_TIMER)
+        
+        
+        ##################################################################
+        
+        def processCommand(self):
+                
+                if (self.command == 'console'):
+                        self.console_control()
+                
+                #elif (self.command == 'gui'):
+                        #self.gui_control()
+        
+        
+        ##################################################################
+        
         def run(self):