Changeset 232 for trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py

Timestamp:

12/01/10 10:54:20 (12 years ago)

Author:

sc

Message:

Brainstorms/Wheelchair_Control.py:

• Wheelchair code updated to work with Aruidno connected to serial port

File:

• trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py (modified) (4 diffs)

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py

@@ -10 +10 @@
 
 __changelog__ = """
-Last Update: 2010.11.29
+Last Update: 2010.11.30
 
 """
@@ -17 +17 @@
 import signal
 #import parallel
+import serial
 
 #####################################################################
@@ -85 +86 @@
         output = data ^ int('00110011', 2)
         #PORT.setData(output)
-        print 'Output set to: ', int2bin(output)
+        
+        output = int2bin(output)
+        device.write('x%s' % output)
+        
+        #print 'Output set to: ', int2bin(output)
+        print 'Output set to: ', output
         print 'commands: i j k m to move, SPACE = stop, x = quit'
 
@@ -107 +113 @@
         return "".join([str((n >> y) & 1) for y in range(count-1, -1, -1)])
 
+#####################################################################
+
+def initializeSerial():
+        baudrate = 9600
+        bytesize = 8
+        parity = 'NONE'
+        stopbits = 1
+        software_flow_control = 'f'
+        rts_cts_flow_control = 't'
+        #timeout = 15
+        timeout = 5
+
+        # convert bytesize
+        if (bytesize == 5):
+                init_byte_size = serial.FIVEBITS
+        elif (bytesize == 6):
+                init_byte_size = serial.SIXBITS
+        elif (bytesize == 7):
+                init_byte_size = serial.SEVENBITS
+        elif (bytesize == 8):
+                init_byte_size = serial.EIGHTBITS
+        else:
+                #self.log.perror("Invalid value for %s modem byte size! Using default (8)" % modem_type)
+                init_byte_size = serial.EIGHTBITS
+
+        # convert parity
+        if (parity == 'NONE'):
+                init_parity = serial.PARITY_NONE
+        elif (parity == 'EVEN'):
+                init_parity = serial.PARITY_EVEN
+        elif (parity == 'ODD'):
+                init_parity = serial.PARITY_ODD
+        else:
+                #self.log.perror("Invalid value for %s modem parity! Using default (NONE)" % modem_type)
+                init_parity = serial.PARITY_NONE
+
+        # convert stopbits
+        if (stopbits == 1):
+                init_stopbits = serial.STOPBITS_ONE
+        elif (stopbits == 2):
+                init_stopbits = serial.STOPBITS_TWO
+        else:
+                #self.log.perror("Invalid value for %s modem stopbits! Using default (8)" % modem_type)
+                init_byte_size = serial.STOPBITS_ONE
+
+        # convert software flow control
+        if (software_flow_control == 't'):
+                init_software_flow_control = 1
+        else:
+                init_software_flow_control = 0
+
+        # convert rts cts flow control
+        if (rts_cts_flow_control == 't'):
+                init_rts_cts_flow_control = 1
+        else:
+                init_rts_cts_flow_control = 0
+
+        device = serial.Serial(port = '/dev/ttyACM0', \
+                                                                         baudrate = baudrate, \
+                                                                         bytesize = init_byte_size, \
+                                                                         parity = init_parity, \
+                                                                         stopbits = init_stopbits, \
+                                                                         xonxoff = init_software_flow_control, \
+                                                                         rtscts = init_rts_cts_flow_control, \
+                                                                         timeout = timeout)
+
+        device.write('x00110011')
+        print "sent stop"
+        time.sleep(2)
+        print "slept 2"
+
+        return(device)
+
 
 #####################################################################
 # Main
 #####################################################################
+
+device = initializeSerial()
 
 MYGETCH = Getch()