Changeset 242

Timestamp:

12/04/10 15:50:04 (11 years ago)

Author:

sc

Message:

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py:

• function name capitalization consistency fix

trunk/brainstorms/Puzzlebox/Brainstorms/Interface.py:

• Wheelchair control now working from GUI buttons

Location:

trunk/brainstorms/Puzzlebox/Brainstorms

Files:

• Interface.py (modified) (9 diffs)
• Wheelchair_Control.py (modified) (4 diffs)

trunk/brainstorms/Puzzlebox/Brainstorms/Interface.py

@@ -10 +10 @@
 
 __changelog__ = """\
-Last Update: 2010.11.30
+Last Update: 2010.12.04
 
 """
@@ -53 +53 @@
 import Puzzlebox.Brainstorms.ThinkGear.Client as thinkgear_client
 import Helicopter_Control as helicopter_control
+import Wheelchair_Control as wheelchair_control
 #import puzzlebox_logger
 
@@ -511 +512 @@
         def connectToWheelchair(self):
                 
+                device_selection = str(self.comboBoxWheelchairPortSelect.currentText())
+                
+                self.wheelchair = \
+                   wheelchair_control.puzzlebox_brainstorms_wheelchair_control( \
+                      device_address=device_selection,
+                      command=None, \
+                      DEBUG=self.DEBUG)
+                
+                #self.wheelchair.start()
+                
                 self.disconnect(self.pushButtonWheelchairConnect, \
                                   QtCore.SIGNAL("clicked()"), \
@@ -535 +546 @@
                 self.pushButtonWheelchairRelaxationEnable.setEnabled(True)
                 self.pushButtonWheelchairSpeedEnable.setEnabled(True)
+                
+                # Safety Measure: Explicitely require wheelchair speed control
+                # to be enabled each time it wheelchair is connected
+                self.pushButtonWheelchairSpeedEnable.setChecked(False)
+                self.pushButtonWheelchairSpeedEnable.setText('Disabled')
+                self.progressBarWheelchairSpeed.setValue(0)
         
         
@@ -540 +557 @@
         
         def disconnectFromWheelchair(self):
+                
+                self.stopWheelchair()
+                
+                #self.wheelchair.stop()
                 
                 self.disconnect(self.pushButtonWheelchairConnect, \
@@ -565 +586 @@
                 self.pushButtonWheelchairRelaxationEnable.setEnabled(False)
                 self.pushButtonWheelchairSpeedEnable.setEnabled(False)
+                
+                # Safety Measure: Explicitely require wheelchair speed control
+                # to be enabled each time it wheelchair is connected
+                self.pushButtonWheelchairSpeedEnable.setChecked(False)
+                self.pushButtonWheelchairSpeedEnable.setText('Disabled')
+                self.progressBarWheelchairSpeed.setValue(0)
         
         
@@ -856 +883 @@
                 
                 self.connect(self.pushButtonWheelchairForward, \
-                                  QtCore.SIGNAL("clicked()"), \
+                                  QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairForward)
+                self.connect(self.pushButtonWheelchairForward, \
+                             QtCore.SIGNAL("released()"), \
+                             self.stopWheelchair)
                 
                 self.connect(self.pushButtonWheelchairReverse, \
-                                  QtCore.SIGNAL("clicked()"), \
+                                  QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairReverse)
+                self.connect(self.pushButtonWheelchairForward, \
+                             QtCore.SIGNAL("released()"), \
+                             self.stopWheelchair)
                 
                 self.connect(self.pushButtonWheelchairLeft, \
-                                  QtCore.SIGNAL("clicked()"), \
+                                  QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairLeft)
+                self.connect(self.pushButtonWheelchairForward, \
+                             QtCore.SIGNAL("released()"), \
+                             self.stopWheelchair)
                 
                 self.connect(self.pushButtonWheelchairRight, \
-                                  QtCore.SIGNAL("clicked()"), \
+                                  QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairRight)
                 
                 self.connect(self.pushButtonWheelchairStop, \
-                                  QtCore.SIGNAL("clicked()"), \
+                                  QtCore.SIGNAL("pressed()"), \
                                   self.stopWheelchair)
                 
@@ -1008 +1044 @@
                 action = QtGui.QAction(self)
                 action.setShortcut(QtGui.QKeySequence("k"))
+                self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairReverse, QtCore.SLOT("animateClick()"))
+                self.addAction(action)
+                action = QtGui.QAction(self)
+                action.setShortcut(QtGui.QKeySequence("m"))
                 self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairReverse, QtCore.SLOT("animateClick()"))
                 self.addAction(action)
@@ -1399 +1439 @@
         
         def driveWheelchairForward(self):
-                print "WheelchairForward"
+                #print "WheelchairForward"
+                speed = self.dialWheelchairSpeed.value()
+                self.wheelchair.sendCommand(speed, 'forward')
         
         def driveWheelchairReverse(self):
                 print "WheelchairReverse"
+                speed = self.dialWheelchairSpeed.value()
+                self.wheelchair.sendCommand(speed, 'reverse')
         
         def driveWheelchairLeft(self):
                 print "WheelchairLeft"
+                speed = self.dialWheelchairSpeed.value()
+                self.wheelchair.sendCommand(speed, 'left')
         
         def driveWheelchairRight(self):
                 print "WheelchairRight"
+                speed = self.dialWheelchairSpeed.value()
+                self.wheelchair.sendCommand(speed, 'right')
         
         def stopWheelchair(self):
                 print "stopWheelchair"
+                speed = self.dialWheelchairSpeed.value()
+                self.wheelchair.sendCommand(speed, 'stop')
         
         

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py

@@ -193 +193 @@
                 
                 
-                self.send_command(self.wheelchair_speed, self.wheelchair_command)
+                self.sendCommand(self.wheelchair_speed, self.wheelchair_command)
                 
                 time.sleep(ARDUINO_INITIALIZATION_TIME)
-                
-                return(device)
-        
-        
-        ##################################################################
-        
-        def send_command(self, speed, command):
+        
+        
+        ##################################################################
+        
+        def sendCommand(self, speed, command):
         
                 self.device.write('%s%s' % (COMMAND_CHARACTER, \
@@ -263 +261 @@
         ##################################################################
 
-        def console_control(self):
+        def consoleControl(self):
 
                 if (sys.platform == 'win32'):
@@ -297 +295 @@
         ##################################################################
         
-        #def gui_control(self):
+        #def guiControl(self):
                 
                 #while self.keep_running:
@@ -309 +307 @@
                 
                 if (self.command == 'console'):
-                        self.console_control()
+                        self.consoleControl()
                 
                 #elif (self.command == 'gui'):