- Timestamp:
- 12/01/10 12:55:53 (12 years ago)
- File:
-
- 1 edited
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trunk/brainstorms/Puzzlebox/Brainstorms/Helicopter_Control.py
r234 r235 165 165 ################################################################## 166 166 167 def sync_to_helicopter(self): 168 169 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 170 QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync 171 172 173 ################################################################## 174 167 175 def neutral(self): 168 176 … … 191 199 print "--> Command: test_mode" 192 200 193 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 194 QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync 201 #self.sync_to_helicopter() 195 202 196 203 self.protocol.command_packet = COMMAND_PACKET['minimum_thrust'] … … 207 214 print "--> Command: hover" 208 215 209 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 210 QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync 216 #self.sync_to_helicopter() 211 217 212 218 self.protocol.command_packet = COMMAND_PACKET['fifty_percent_thrust'] 213 QtCore.QThread.msleep(duration * 1000) 214 215 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 219 220 if duration != None: 221 QtCore.QThread.msleep(duration * 1000) 222 223 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 216 224 217 225 … … 223 231 print "--> Command: fly_forward" 224 232 225 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 226 QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) 233 #self.sync_to_helicopter() 227 234 228 235 self.protocol.command_packet = COMMAND_PACKET['fly_forward'] 229 QtCore.QThread.msleep(duration * 1000) 230 231 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 236 237 if duration != None: 238 QtCore.QThread.msleep(duration * 1000) 239 240 self.protocol.command_packet = COMMAND_PACKET['no_thrust'] 232 241 233 242 … … 235 244 236 245 def processCommand(self): 246 247 248 #self.configureRemote() 249 237 250 238 251 if (self.command == 'dump_packets') or (self.command == 'read'): … … 259 272 elif (self.command == 'test_mode'): 260 273 self.mode = 'write' 274 self.sync_to_helicopter() 261 275 self.test_mode() 262 276 263 277 elif (self.command == 'hover'): 264 278 self.mode = 'write' 279 self.sync_to_helicopter() 265 280 self.hover() 266 281 267 282 elif (self.command == 'fly_forward'): 268 283 self.mode = 'write' 284 self.sync_to_helicopter() 269 285 self.fly_forward(duration=2) 270 286
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