Changeset 235 for trunk/brainstorms/Puzzlebox/Brainstorms/Helicopter_Control.py

Timestamp:

12/01/10 12:55:53 (12 years ago)

Author:

sc

Message:

Brainstorms/Helicopter_Control.py:

• sync_to_helicopter control added

Brainstorms/Interface?.py:

• additional keyboard shortcuts added to control RC Helicopter

File:

• trunk/brainstorms/Puzzlebox/Brainstorms/Helicopter_Control.py (modified) (6 diffs)

trunk/brainstorms/Puzzlebox/Brainstorms/Helicopter_Control.py

@@ -165 +165 @@
         ##################################################################
         
+        def sync_to_helicopter(self):
+                
+                self.protocol.command_packet = COMMAND_PACKET['no_thrust']
+                QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync
+        
+        
+        ##################################################################
+        
         def neutral(self):
                 
@@ -191 +199 @@
                         print "--> Command: test_mode"
                 
-                self.protocol.command_packet = COMMAND_PACKET['no_thrust']
-                QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync
+                #self.sync_to_helicopter()
                 
                 self.protocol.command_packet = COMMAND_PACKET['minimum_thrust']
@@ -207 +214 @@
                         print "--> Command: hover"
                 
-                self.protocol.command_packet = COMMAND_PACKET['no_thrust']
-                QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000) # 4 seconds minimum to sync
+                #self.sync_to_helicopter()
                 
                 self.protocol.command_packet = COMMAND_PACKET['fifty_percent_thrust']
-                QtCore.QThread.msleep(duration * 1000)
-                
-                self.protocol.command_packet = COMMAND_PACKET['no_thrust']
+                
+                if duration != None:
+                        QtCore.QThread.msleep(duration * 1000)
+                        
+                        self.protocol.command_packet = COMMAND_PACKET['no_thrust']
         
         
@@ -223 +231 @@
                         print "--> Command: fly_forward"
                 
-                self.protocol.command_packet = COMMAND_PACKET['no_thrust']
-                QtCore.QThread.msleep(PROTOCOL_SYNC_TIME * 1000)
+                #self.sync_to_helicopter()
                 
                 self.protocol.command_packet = COMMAND_PACKET['fly_forward']
-                QtCore.QThread.msleep(duration * 1000)
-                
-                self.protocol.command_packet = COMMAND_PACKET['no_thrust']
+                
+                if duration != None:
+                        QtCore.QThread.msleep(duration * 1000)
+                        
+                        self.protocol.command_packet = COMMAND_PACKET['no_thrust']
         
         
@@ -235 +244 @@
         
         def processCommand(self):
+                
+                
+                #self.configureRemote()
+                
                 
                 if (self.command == 'dump_packets') or (self.command == 'read'):
@@ -259 +272 @@
                 elif (self.command == 'test_mode'):
                         self.mode = 'write'
+                        self.sync_to_helicopter()
                         self.test_mode()
                 
                 elif (self.command == 'hover'):
                         self.mode = 'write'
+                        self.sync_to_helicopter()
                         self.hover()
                 
                 elif (self.command == 'fly_forward'):
                         self.mode = 'write'
+                        self.sync_to_helicopter()
                         self.fly_forward(duration=2)