| 1 | #!/usr/bin/env python |
|---|
| 2 | # -*- coding: utf-8 -*- |
|---|
| 3 | # |
|---|
| 4 | # Puzzlebox - Brainstorms - RC |
|---|
| 5 | # |
|---|
| 6 | # Copyright Steven M. Castellotti (2010) |
|---|
| 7 | # |
|---|
| 8 | # Portions of this code have been previously |
|---|
| 9 | # released under the GNU Pulic License (GPL) version 2 |
|---|
| 10 | # and is Copyright Steven M. Castellotti (2010) |
|---|
| 11 | # For more information please refer to http://www.gnu.org/copyleft/gpl.html |
|---|
| 12 | # |
|---|
| 13 | # Last Update: 2010.01.25 |
|---|
| 14 | # |
|---|
| 15 | ##################################################################### |
|---|
| 16 | |
|---|
| 17 | import sys, time |
|---|
| 18 | import serial |
|---|
| 19 | import jaraco.nxt |
|---|
| 20 | import jaraco.nxt.messages |
|---|
| 21 | import jaraco.nxt.routine |
|---|
| 22 | |
|---|
| 23 | ##################################################################### |
|---|
| 24 | # Globals |
|---|
| 25 | ##################################################################### |
|---|
| 26 | |
|---|
| 27 | DEBUG = 2 |
|---|
| 28 | |
|---|
| 29 | BLUETOOTH_DEVICE='/dev/rfcomm0' |
|---|
| 30 | |
|---|
| 31 | ##################################################################### |
|---|
| 32 | # Classes |
|---|
| 33 | ##################################################################### |
|---|
| 34 | |
|---|
| 35 | class puzzlebox_brainstorms_rc: |
|---|
| 36 | |
|---|
| 37 | def __init__(self, device=BLUETOOTH_DEVICE, DEBUG=DEBUG): |
|---|
| 38 | |
|---|
| 39 | self.DEBUG = DEBUG |
|---|
| 40 | |
|---|
| 41 | self.device=device |
|---|
| 42 | |
|---|
| 43 | |
|---|
| 44 | ################################################################## |
|---|
| 45 | |
|---|
| 46 | def connect_to_nxt(self, device): |
|---|
| 47 | |
|---|
| 48 | conn = jaraco.nxt.Connection(self.device) |
|---|
| 49 | |
|---|
| 50 | if self.DEBUG > 1: |
|---|
| 51 | battery_voltage = jaraco.nxt.routine.get_voltage(conn) |
|---|
| 52 | print "Battery voltage:", |
|---|
| 53 | print battery_voltage |
|---|
| 54 | |
|---|
| 55 | |
|---|
| 56 | return(conn) |
|---|
| 57 | |
|---|
| 58 | |
|---|
| 59 | ################################################################## |
|---|
| 60 | |
|---|
| 61 | def cycle_motor(self, conn, port): |
|---|
| 62 | |
|---|
| 63 | "Turn the motor one direction, then the other, then stop it" |
|---|
| 64 | |
|---|
| 65 | port = jaraco.nxt.routine.get_port(port, \ |
|---|
| 66 | jaraco.nxt.messages.OutputPort) |
|---|
| 67 | cmd = jaraco.nxt.messages.SetOutputState(port, \ |
|---|
| 68 | motor_on=True, \ |
|---|
| 69 | set_power=60, \ |
|---|
| 70 | run_state=jaraco.nxt.messages.RunState.running) |
|---|
| 71 | conn.send(cmd) |
|---|
| 72 | |
|---|
| 73 | time.sleep(2) |
|---|
| 74 | |
|---|
| 75 | cmd = jaraco.nxt.messages.SetOutputState(port, \ |
|---|
| 76 | motor_on=True, \ |
|---|
| 77 | set_power=-60, \ |
|---|
| 78 | run_state=jaraco.nxt.messages.RunState.running) |
|---|
| 79 | conn.send(cmd) |
|---|
| 80 | |
|---|
| 81 | time.sleep(2) |
|---|
| 82 | |
|---|
| 83 | cmd = jaraco.nxt.messages.SetOutputState(port) |
|---|
| 84 | conn.send(cmd) |
|---|
| 85 | |
|---|
| 86 | |
|---|
| 87 | ################################################################## |
|---|
| 88 | |
|---|
| 89 | def run(self): |
|---|
| 90 | |
|---|
| 91 | conn = self.connect_to_nxt(self.device) |
|---|
| 92 | |
|---|
| 93 | self.cycle_motor(conn, 'a') |
|---|
| 94 | |
|---|
| 95 | conn.close() |
|---|
| 96 | |
|---|
| 97 | |
|---|
| 98 | ##################################################################### |
|---|
| 99 | # Functions |
|---|
| 100 | ##################################################################### |
|---|
| 101 | |
|---|
| 102 | |
|---|
| 103 | ##################################################################### |
|---|
| 104 | # Main |
|---|
| 105 | ##################################################################### |
|---|
| 106 | |
|---|
| 107 | if __name__ == '__main__': |
|---|
| 108 | |
|---|
| 109 | # Collect default settings and command line parameters |
|---|
| 110 | device = BLUETOOTH_DEVICE |
|---|
| 111 | |
|---|
| 112 | for each in sys.argv: |
|---|
| 113 | |
|---|
| 114 | if each.startswith("--device="): |
|---|
| 115 | device = each[ len("--device="): ] |
|---|
| 116 | |
|---|
| 117 | |
|---|
| 118 | rc = puzzlebox_brainstorms_rc(device=device, DEBUG=DEBUG) |
|---|
| 119 | |
|---|
| 120 | rc.run() |
|---|
| 121 | |
|---|
