Changeset 449

Timestamp:

03/10/09 20:18:35 (3 years ago)

Author:

mosttw

Message:

Added get gain button

Location:

trunk/software/rb

Files:

• gui/gui.glade (modified) (6 diffs)
• gui/gui.py (modified) (3 diffs)
• gui/gui.xml (modified) (6 diffs)
• wiimote.py (modified) (4 diffs)

trunk/software/rb/gui/gui.glade

@@ -1 +1 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
-<!--Generated with glade3 3.4.5 on Sat Mar  7 02:00:15 2009 -->
+<!--Generated with glade3 3.4.5 on Tue Mar 10 19:58:15 2009 -->
 <glade-interface>
   <widget class="GtkWindow" id="window">
@@ -166 +166 @@
                         <property name="visible">True</property>
                         <property name="can_focus">True</property>
-                        <property name="label" translatable="yes">Set Left</property>
+                        <property name="label" translatable="yes">Left MC</property>
                         <property name="response_id">0</property>
                         <property name="active">True</property>
@@ -176 +176 @@
                         <property name="visible">True</property>
                         <property name="can_focus">True</property>
-                        <property name="label" translatable="yes">Set Right</property>
+                        <property name="label" translatable="yes">Right MC</property>
                         <property name="response_id">0</property>
                         <property name="active">True</property>
@@ -186 +186 @@
                     </child>
                     <child>
-                      <widget class="GtkButton" id="gain_button">
+                      <widget class="GtkButton" id="gain_get_button">
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="label" translatable="yes">Get Gains</property>
+                        <property name="response_id">0</property>
+                        <signal name="clicked" handler="gain_get_cb"/>
+                      </widget>
+                      <packing>
+                        <property name="position">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkButton" id="gain_set_button">
                         <property name="visible">True</property>
                         <property name="can_focus">True</property>
@@ -195 +208 @@
                       </widget>
                       <packing>
-                        <property name="position">2</property>
+                        <property name="position">3</property>
                       </packing>
                     </child>
@@ -208 +221 @@
                       </widget>
                       <packing>
-                        <property name="position">3</property>
+                        <property name="position">4</property>
                       </packing>
                     </child>

trunk/software/rb/gui/gui.py

@@ -36 +36 @@
                 
                 self.init_drive()
-                self.init_gps()
-                self.init_microstrain()
+                #self.init_gps()
+                #self.init_microstrain()
                 self.init_wiimote()
                 self.transcript = TranscriptLogger('/tmp/rblog.txt',
@@ -146 +146 @@
                 return True
 
+        def get_motor_checkboxes(self):
+                '''
+                Get the values of the motor checkboxes.
+                '''
+                left = self.builder.get_object("gain_left_check").get_active()
+                right = self.builder.get_object("gain_right_check").get_active()
+                return left, right
+
+        def gain_get_cb(self, widget=None, data=None):
+                '''
+                Callback to get the current gains of the motor controllers and
+                populate the boxes.
+                '''
+                left, right = self.get_motor_checkboxes()
+                if not left and not right:
+                        return
+                
+                kp_box = self.builder.get_object("gain_value_kp")
+                ki_box = self.builder.get_object("gain_value_ki")
+                kd_box = self.builder.get_object("gain_value_kd")
+                
+                lgains, rgains = self.drive.getgain(left or None, right or None)
+                kp, ki, kd = lgains if left else rgains
+                
+                kp_box.set_value(str(kp))
+                ki_box.set_value(str(ki))
+                kd_box.set_value(str(kd))
+
         def gain_set_cb(self, widget=None, data=None):
                 '''
@@ -155 +183 @@
                 gains = (kp, ki, kd)
                 
-                left = gains if self.builder.get_object("gain_left_check").get_active() else None
-                right = gains if self.builder.get_object("gain_right_check").get_active() else None
+                left, right = self.get_motor_checkboxes()
                 if left or right:
-                        self.drive.setgain(left, right)
+                        self.drive.setgain(gains if left else None,
+                                                                gains if right else None)
         
         def gain_eeprom_write_cb(self, widget=None, data=None):

trunk/software/rb/gui/gui.xml

@@ -1 +1 @@
 <?xml version="1.0"?>
-<!--Generated with glade3 3.4.5 on Sat Mar  7 02:00:15 2009 -->
+<!--Generated with glade3 3.4.5 on Tue Mar 10 19:58:15 2009 -->
 <interface>
   <object class="GtkAdjustment" id="adjustment1">
@@ -184 +184 @@
                         <property name="visible">True</property>
                         <property name="can_focus">True</property>
-                        <property name="label" translatable="yes">Set Left</property>
+                        <property name="label" translatable="yes">Left MC</property>
                         <property name="active">True</property>
                         <property name="draw_indicator">True</property>
@@ -193 +193 @@
                         <property name="visible">True</property>
                         <property name="can_focus">True</property>
-                        <property name="label" translatable="yes">Set Right</property>
+                        <property name="label" translatable="yes">Right MC</property>
                         <property name="active">True</property>
                         <property name="draw_indicator">True</property>
@@ -202 +202 @@
                     </child>
                     <child>
-                      <object class="GtkButton" id="gain_button">
+                      <object class="GtkButton" id="gain_get_button">
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="label" translatable="yes">Get Gains</property>
+                        <signal handler="gain_get_cb" name="clicked"/>
+                      </object>
+                      <packing>
+                        <property name="position">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <object class="GtkButton" id="gain_set_button">
                         <property name="visible">True</property>
                         <property name="can_focus">True</property>
@@ -210 +222 @@
                       </object>
                       <packing>
-                        <property name="position">2</property>
+                        <property name="position">3</property>
                       </packing>
                     </child>
@@ -222 +234 @@
                       </object>
                       <packing>
-                        <property name="position">3</property>
+                        <property name="position">4</property>
                       </packing>
                     </child>

trunk/software/rb/wiimote.py

@@ -39 +39 @@
 class Wiimote(object):
         '''
-        Controller for Wiimote control of the robot.  Because cwiid is
-        sensitive to what thread things are run in (in particular, the
-        ``cwiid.Wiimote`` class must be instantiated in the main
-        thread) some contortions are necessary to accomodate it.
+        Navigator that permits Wiimote control of the robot.  Interfaces with
+        the controller object to 
         '''
 
@@ -89 +87 @@
 
         def stop(self):
-                if self.controller.navigator == 'wiimote':
-                        log_info('Wiimote: Switched navigator to manual')
-                        self.controller.set_navigator('manual')
+                if self.controller.navigator in ('wiimote', 'autonomous'):
+                        log_info('Wiimote: Set controller to stop because of disconnect')
+                        self.controller.set_navigator('stop')
                 self.wm.close()
                 self.wm = None
@@ -104 +102 @@
                             time.sleep(.1)
 
-        # FIXME: Integrate this somehow
         def _control(self):
                 '''
@@ -134 +131 @@
                                         if data & BTN_A:
                                                 if self.controller.navigator != 'autonomous':
+                                                        log_info('Wiimote: Switching to autonomous navigator')
                                                         self.controller.set_navigator('autonomous')
-                                                        log_info('Wiimote: Switched to autonomous navigator')
+                                                else:
+                                                        log_info('Wiimote: Switching to wiimote navigator')
+                                                        self.controller.set_navigator('wiimote')
                                 elif type == MESG_NUNCHUK:
                                         self.stick = data['stick']
                 except Exception, e:
-                        print e
-                        self.running = False
+                        log_error("Wiimote: handle_mesg exception: %r" % e)
+                        self.stop()
 
 
-if __name__ == '__main__':
-        wm = Wiimote()