Changeset 247 for trunk/brainstorms/Puzzlebox

Timestamp:

12/06/10 01:51:07 (12 years ago)

Author:

sc

Message:

Interface.py:

• Fixed bugs with device port connections

Wheelchair_Control.py:

• Turning speeds reduced

setup.py:

• whitespace cleanup

Location:

trunk/brainstorms/Puzzlebox/Brainstorms

Files:

• Interface.py (modified) (5 diffs)
• Wheelchair_Control.py (modified) (3 diffs)

trunk/brainstorms/Puzzlebox/Brainstorms/Interface.py

@@ -436 +436 @@
 
                 # Prevent attempting to connect to a device which does not exist
-                device = str(self.comboBoxNXTPortSelect.currentText())
+                device = str(self.comboBoxHelicopterPortSelect.currentText())
                 if device == 'N/A':
                         self.pushButtonHelicopterConnect.setChecked(False)
@@ -543 +543 @@
                 
                 # Prevent attempting to connect to a device which does not exist
-                device = str(self.comboBoxNXTPortSelect.currentText())
+                device = str(self.comboBoxWheelchairPortSelect.currentText())
                 if device == 'N/A':
                         self.pushButtonWheelchairConnect.setChecked(False)      
@@ -932 +932 @@
                                   QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairReverse)
-                self.connect(self.pushButtonWheelchairForward, \
+                self.connect(self.pushButtonWheelchairReverse, \
                              QtCore.SIGNAL("released()"), \
                              self.stopWheelchair)
@@ -939 +939 @@
                                   QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairLeft)
-                self.connect(self.pushButtonWheelchairForward, \
+                self.connect(self.pushButtonWheelchairLeft, \
                              QtCore.SIGNAL("released()"), \
                              self.stopWheelchair)
@@ -946 +946 @@
                                   QtCore.SIGNAL("pressed()"), \
                                   self.driveWheelchairRight)
+                self.connect(self.pushButtonWheelchairRight, \
+                             QtCore.SIGNAL("released()"), \
+                             self.stopWheelchair)
                 
                 self.connect(self.pushButtonWheelchairStop, \

trunk/brainstorms/Puzzlebox/Brainstorms/Wheelchair_Control.py

@@ -56 +56 @@
                 'forward': '00110010',
                 'reverse': '00110111',
-                'left': '01110011',
-                'right': '00100011',
+#               'left': '01110011',  # Turning in Speed 2 is disproportionately fast
+#               'right': '00100011', # Turning in Speed 2 is disproportionately fast
+                'left': '10110011',  # Turn Speed 1
+                'right': '00010011', # Turn Speed 1
                 'stop': '00110011', 
         },
@@ -63 +65 @@
                 'forward': '00110000',
                 'reverse': '00111111',
-                'left': '11110011',
-                'right': '00000011',
+#               'left': '11110011',  # Turning in Speed 3 is too fast
+#               'right': '00000011', # Turning in Speed 3 is too fast
+                'left': '01110011',  # Turn Speed 2
+                'right': '00100011', # Turn Speed 2
                 'stop': '00110011', 
         },
@@ -201 +205 @@
         
         def sendCommand(self, speed, command):
-        
-                self.device.write('%s%s' % (COMMAND_CHARACTER, \
-                        WHEELCHAIR_COMMANDS[speed][command]))
+
+                output = '%s%s' % (COMMAND_CHARACTER, \
+                        WHEELCHAIR_COMMANDS[speed][command])
+        
+                self.device.write(output)
                 
                 if self.DEBUG:
-                        print "--> Wheelchair Command: %s [Speed %i]" % \
-                           (command, speed)
+                        print "--> Wheelchair Command: %s (Speed %i) [%s]" % \
+                           (command, speed, output)
                 
                 self.wheelchair_speed = speed