| [1] | 1 | #!/usr/bin/env python |
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| 2 | # -*- coding: utf-8 -*- |
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| 3 | # |
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| 4 | # Puzzlebox - Brainstorms - RC |
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| 5 | # |
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| 6 | # Copyright Steven M. Castellotti (2010) |
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| 7 | # |
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| 8 | # Portions of this code have been previously |
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| 9 | # released under the GNU Pulic License (GPL) version 2 |
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| 10 | # and is Copyright Steven M. Castellotti (2010) |
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| 11 | # For more information please refer to http://www.gnu.org/copyleft/gpl.html |
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| 12 | # |
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| 13 | # Last Update: 2010.01.25 |
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| 14 | # |
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| 15 | ##################################################################### |
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| 16 | |
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| 17 | import sys, time |
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| 18 | import serial |
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| 19 | import jaraco.nxt |
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| 20 | import jaraco.nxt.messages |
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| 21 | import jaraco.nxt.routine |
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| 22 | |
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| 23 | ##################################################################### |
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| 24 | # Globals |
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| 25 | ##################################################################### |
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| 26 | |
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| 27 | DEBUG = 1 |
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| 28 | |
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| 29 | BLUETOOTH_DEVICE='/dev/rfcomm0' |
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| 30 | |
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| 31 | ##################################################################### |
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| 32 | # Classes |
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| 33 | ##################################################################### |
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| 34 | |
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| 35 | class puzzlebox_brainstorms_rc: |
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| 36 | |
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| 37 | def __init__(self, device=BLUETOOTH_DEVICE, DEBUG=DEBUG): |
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| 38 | |
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| 39 | self.DEBUG = DEBUG |
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| 40 | |
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| 41 | self.device=device |
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| 42 | |
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| 43 | |
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| 44 | ################################################################## |
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| 45 | |
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| 46 | def cycle_motor(self, conn, port): |
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| 47 | |
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| 48 | "Turn the motor one direction, then the other, then stop it" |
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| 49 | |
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| 50 | port = jaraco.nxt.routine.get_port(port, \ |
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| 51 | jaraco.nxt.messages.OutputPort) |
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| 52 | cmd = jaraco.nxt.messages.SetOutputState(port, \ |
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| 53 | motor_on=True, \ |
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| 54 | set_power=60, \ |
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| 55 | run_state=jaraco.nxt.messages.RunState.running) |
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| 56 | conn.send(cmd) |
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| 57 | |
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| 58 | time.sleep(2) |
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| 59 | |
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| 60 | cmd = jaraco.nxt.messages.SetOutputState(port, \ |
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| 61 | motor_on=True, \ |
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| 62 | set_power=-60, \ |
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| 63 | run_state=jaraco.nxt.messages.RunState.running) |
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| 64 | conn.send(cmd) |
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| 65 | |
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| 66 | time.sleep(2) |
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| 67 | |
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| 68 | cmd = jaraco.nxt.messages.SetOutputState(port) |
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| 69 | conn.send(cmd) |
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| 70 | |
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| 71 | |
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| 72 | ################################################################## |
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| 73 | |
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| 74 | def run(self): |
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| 75 | |
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| 76 | conn = jaraco.nxt.Connection(self.device) |
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| 77 | #jaraco.nxt.routine.cycle_motor_a(conn) |
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| 78 | self.cycle_motor(conn, 'a') |
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| 79 | |
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| 80 | conn.close() |
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| 81 | |
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| 82 | |
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| 83 | ##################################################################### |
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| 84 | # Functions |
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| 85 | ##################################################################### |
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| 86 | |
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| 87 | |
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| 88 | ##################################################################### |
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| 89 | # Main |
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| 90 | ##################################################################### |
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| 91 | |
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| 92 | if __name__ == '__main__': |
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| 93 | |
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| 94 | # Collect default settings and command line parameters |
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| 95 | device = BLUETOOTH_DEVICE |
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| 96 | |
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| 97 | for each in sys.argv: |
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| 98 | |
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| 99 | if each.startswith("--device="): |
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| 100 | device = each[ len("--device="): ] |
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| 101 | |
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| 102 | |
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| 103 | rc = puzzlebox_brainstorms_rc(device=device, DEBUG=DEBUG) |
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| 104 | |
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| 105 | rc.run() |
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| 106 | |
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