Changeset 8

Timestamp:

01/28/10 16:05:08 (12 years ago)

Author:

sc

Message:

turn_reverse function added

Location:

rc

Files:

• puzzlebox_brainstorms_configuration.py (modified) (1 diff)
• puzzlebox_brainstorms_rc.py (modified) (7 diffs)
• puzzlebox_brainstorms_server.py (modified) (4 diffs)

rc/puzzlebox_brainstorms_configuration.py

@@ -51 +51 @@
 
 #SERVER_HOST = '127.0.0.1'
-SERVER_HOST = ''
+SERVER_HOST = '192.168.1.150'
+#SERVER_HOST = ''
 SERVER_PORT = 8194
 

rc/puzzlebox_brainstorms_rc.py

@@ -160 +160 @@
         ##################################################################
         
-        def drive_forward(self, connection, power=80, duration=3):
+        def drive_forward(self, connection, power=80, duration=2):
                 
                 "Drive the robot forward at a certain speed for a certain duration"
+                
+                self.drive(connection, power, power, duration)
+        
+        
+        ##################################################################
+        
+        def drive_reverse(self, connection, power=80, duration=2):
+                
+                "Drive the robot reverse at a certain speed for a certain duration"
+                
+                power = -power
                 
                 self.drive(connection, power, power, duration)
@@ -182 +193 @@
         ##################################################################
         
-        def turn_left(self, connection, power=80, duration=3):
+        def turn_left(self, connection, power=80, duration=2):
                 
                 "Turn the robot counter-clockwise at a"
@@ -195 +206 @@
         ##################################################################
         
-        def turn_right(self, connection, power=80, duration=3):
+        def turn_right(self, connection, power=80, duration=2):
                 
                 "Turn the robot counter-clockwise at a"
@@ -201 +212 @@
                 
                 left_power = power
-                right_power = -power
+                right_power = -(power/2)
                 
                 self.drive(connection, left_power, right_power, duration)
@@ -240 +251 @@
                         self.drive_forward(self.connection)
                 
+                elif (command == 'drive_reverse'):
+                        self.drive_reverse(self.connection)
+                
                 elif (command == 'turn_in_reverse'):
                         self.turn_in_reverse(self.connection)
@@ -270 +284 @@
         # Collect default settings and command line parameters
         device = BLUETOOTH_DEVICE
+        command = DEFAULT_RC_COMMAND
         
         for each in sys.argv:
@@ -276 +291 @@
                         device = each[ len("--device="): ]
                 elif each.startswith("--command="):
-                        device = each[ len("--command="): ]
+                        command = each[ len("--command="): ]
         
         

rc/puzzlebox_brainstorms_server.py

@@ -52 +52 @@
         
         def process_instruction(self, instruction):
-        
+                
                 #self.log.debug("Received instruction: %s" % instruction)
                 #if self.DEBUG:
@@ -62 +62 @@
                 if 'command' in instruction:
                         response = '%s instruction received' % instruction['command']
-                
-                
+                        
+                        
                         if 'information' in instruction:
                                 information = instruction['information']
@@ -75 +75 @@
                         elif instruction['command'] == 'drive_forward':
                                 command = 'python puzzlebox_brainstorms_rc.py --command=drive_forward'
+                                os.system(command)                      
+                        
+                        elif instruction['command'] == 'drive_reverse':
+                                command = 'python puzzlebox_brainstorms_rc.py --command=drive_reverse'
                                 os.system(command)
                         
@@ -159 +163 @@
         def send_response(self, response):
                 
-                #if response == "browser exit":
-                        #self.instruction['command'] = response
                 
                 response = pickle.dumps(response)