Changeset 431

Timestamp:

02/25/09 23:53:02 (3 years ago)

Author:

mosttw

Message:

Added controller mode stuff

Location:

trunk/software/rb

Files:

• controller.py (modified) (1 diff)
• drive.py (modified) (1 diff)
• gui/analog.py (modified) (5 diffs)
• gui/gui.py (modified) (2 diffs)
• shell.py (modified) (5 diffs)

trunk/software/rb/controller.py

@@ -4 +4 @@
 class Controller():
         def __init__(self):
-                self.mode = "stop"
-                #self.drive = rb.drive.FakeDrive(rbconfig.left_motor_port,
-                #                               rbconfig.right_motor_port)
-                self.drive = rb.drive.Drive(rbconfig.left_motor_port,
-                                            rbconfig.right_motor_port)
+                self.mode = None
+                self.drive = rb.drive.FakeDrive(rbconfig.left_motor_port,
+                                                rbconfig.right_motor_port)
+                #self.drive = rb.drive.Drive(rbconfig.left_motor_port,
+                #                            rbconfig.right_motor_port)
         
         def set_mode(self, mode):

trunk/software/rb/drive.py

@@ -221 +221 @@
                 log_debug("MockDrive: left  motor speed % 3.03f" % left)
                 log_debug("MockDrive: right motor speed % 3.03f" % right)
-                self.left.target = left
-                self.right.target = right
+                self.left.target = clip(left,  -1.0, 1.0)
+                self.right.target = clip(right,  -1.0, 1.0)
         
         def getspeed(self):

trunk/software/rb/gui/analog.py

@@ -9 +9 @@
 
                 self.controller = controller
-
+                self.enabled = False
                 # Register callbacks
                 #connect("motor:speed_changed", self.redraw)
@@ -34 +34 @@
                 context = self.window.cairo_create()
 
-                # Draw dimond
+                # Draw diamond
                 context.set_source_rgb(0, 254, 0)
                 context.move_to(w/2, 0)
@@ -41 +41 @@
                 context.line_to(w, h/2)
                 context.fill()
-
-                # Draw Target Speed
-                x = float(self.controller.drive.left.target - self.controller.drive.right.target)
-                y = float(self.controller.drive.left.target + self.controller.drive.right.target)
-                #~ log_debug("left=%f, right=%f, x=%f, y=%f" %
-                                #~ (self.controller.drive.left.target, self.controller.drive.right.target,
-                                        #~ ( x/4+0.5), (-y/4+0.5)))
-                x =  ( x/4+0.5) * w
-                y =  (-y/4+0.5) * h
-                context.set_source_rgb(0,0,255)
-                context.arc(x, y, 5, 0, 2*pi)
-                context.fill()
+                
+                if self.enabled:
+                        # Draw Target Speed
+                        x = float(self.controller.drive.left.target - self.controller.drive.right.target)
+                        y = float(self.controller.drive.left.target + self.controller.drive.right.target)
+                        #log_debug("left=%f, right=%f, x=%f, y=%f" %
+                                        #(self.controller.drive.left.target, self.controller.drive.right.target,
+                                                #( x/4+0.5), (-y/4+0.5)))
+                        x =  ( x/4+0.5) * w
+                        y =  (-y/4+0.5) * h
+                        context.set_source_rgb(0,0,255)
+                        context.arc(x, y, 5, 0, 2*pi)
+                        context.fill()
 
                 # Draw Current Speed
@@ -65 +66 @@
         
         def motion_cb(self, da, event):
+                if not self.enabled:
+                        return
                 if (event.type != gtk.gdk.BUTTON_PRESS and
                     event.state & gtk.gdk.BUTTON1_MASK == 0):
@@ -78 +81 @@
                 r = y-x
 
-                log_debug("\tgui: x=%f, y=%f, l=%f, r=%f" % (x,y,l,r))
+                #log_debug("\tgui: x=%f, y=%f, l=%f, r=%f" % (x,y,l,r))
                 self.controller.set_speed(l, r)

trunk/software/rb/gui/gui.py

@@ -51 +51 @@
 
                 self.window.show_all()
+                self.set_mode('manual')
                 gtk.main()
 
@@ -62 +63 @@
                 elif mode == 'manual':
                         print "Switching to manual mode"
+                
+                self.analog.enabled = (mode == 'manual')
+                
 
         def key_press_cb(self, widget, event):

trunk/software/rb/shell.py

@@ -30 +30 @@
         '''
         A robot control shell.
-        
-        The rbconfig variable ``shell_components`` permits automatic loading
-        of certain components when the shell is started.
-        
-        TODO: Needs some way of loading sets of commands dynamically, e.g.,
-        so that motor-related commands can be made present only when their
-        dependencies are running.
         '''
         
@@ -44 +37 @@
                 cmd.Cmd.__init__(self)
                 Controller.__init__(self)
+                self.set_mode('manual')
                 try:
                         self.cmdloop()
@@ -66 +60 @@
         
         def do_exit(self, cmd):
-                print "Goodbye. :("
+                print "Goodbye."
                 return True
         
         def help_exit(self):
                 print "Exit the shell."
+        
+        do_quit = do_exit
+        help_quit = help_exit
         
         # Loading commands from a file
@@ -145 +142 @@
         def do_disable(self, cmd):
                 print self.drive.disable()
+        def help_disable(self):
+                print "Disable the drive"
 
         def do_enable(self, cmd):
                 print self.drive.enable()
+        def help_enable(self):
+                print "Enable the drive"
 
         def do_getdc(self, cmd):
@@ -158 +159 @@
                 print self.drive.getstat()
 
-        def do_eewrite(self, cmd):
+        def do_eewrite(self, cmd):
                 print self.drive.eewrite()