Changeset 503

Timestamp:

05/26/09 22:18:56 (3 years ago)

Author:

spenceal

Message:

made default wiimote analogue control be from 0->50%; pressing Z will make it 0->100%

Location:

trunk/software

Files:

• rb/controller.py (modified) (1 diff)
• rb/drive.py (modified) (3 diffs)
• rb/wiimote.py (modified) (4 diffs)
• rbconfig.py (modified) (1 diff)

trunk/software/rb/controller.py

@@ -43 +43 @@
                 self.data_queue = Queue()
                 self.init_drive()
-                self.init_camera()
+                #self.init_camera()
                 #self.init_gps()
                 #self.init_microstrain()

trunk/software/rb/drive.py

@@ -45 +45 @@
 
 # Max speed
-MAX      = 3000
+MAX      = 500 
 
 Ok, Err = range(2)
@@ -137 +137 @@
         def getstat(self):
                 return self._stats
-        
+
         def disable(self):     return self._split("disable", (), ())
         def enable (self):     return self._split("enable" , (), ())
@@ -172 +172 @@
         
         def _send(self, type, *t_data):
-                print "Acquiring drive %s lock" % (self._port_name,)
+                #print "Acquiring drive %s lock" % (self._port_name,)
                 self._port_lock.acquire()
                 try:

trunk/software/rb/wiimote.py

@@ -22 +22 @@
 
 import cwiid
-from cwiid import (LED1_ON, LED2_ON, LED3_ON, LED4_ON, BTN_A,
+from cwiid import (LED1_ON, LED2_ON, LED3_ON, LED4_ON, BTN_A, NUNCHUK_BTN_Z,
                                          FLAG_MESG_IFC, RPT_BTN, RPT_STATUS, RPT_NUNCHUK,
                                          MESG_ERROR, MESG_NUNCHUK, MESG_BTN,
@@ -52 +52 @@
                 self.wm = None
                 self.stick = STICK_CENTER # Latest stick data
+                self.scale = 0.5        # scale factor, for limiting default control
 
         def start(self):
@@ -112 +113 @@
                 y = y / 127.0 if (abs(y) > 5) else 0
 
-                lspeed = float(y + x)
-                rspeed = float(y - x)
+                lspeed = float(y + x) * self.scale
+                rspeed = float(y - x) * self.scale
 
                 #x = ( x/4+0.5) * w
@@ -143 +144 @@
                                 elif type == MESG_NUNCHUK:
                                         self.stick = data['stick']
+                                        self.scale = 0.5
+                                        if data['buttons'] & NUNCHUK_BTN_Z:
+                                                        self.scale = 1
                 except Exception, e:
                         log_error("Wiimote: handle_mesg exception: %r" % e)

trunk/software/rbconfig.py

@@ -15 +15 @@
 
 # Serial port for the motor controller
-fake_drive = True
-left_motor_port  = '/dev/ttyUSB0'
-right_motor_port = '/dev/ttyUSB1'
+fake_drive = False
+left_motor_port  = '/dev/ttyS0'
+right_motor_port = '/dev/ttyS2'
 
 # URL of ccam.cgi on the Elphel 353 camera