| Robototes2412 |
25-11-2010 23:19 |
Python virtual speed controllers!
Hello all.
I know this should go in the python forum, but this can affect everyone.
here is the code, just put it all in one directory, running directions below:
debug_test.py
Code:
#!/usr/bin/python
import cmd
test = None
var = []
def do_args(args):
print args.split()
def do_driver(args):
arg = args.split()
test_passed = False
if len(arg) > 0:
var1 = float(arg[0])
var2 = float(arg[1])
var3 = float(arg[2])
else:
var1 = 0.5
var2 = var1
var3 = var1
try:
import outputs, testing
test = outputs.Driver(1,2,3,4)
print
print "Doing tankDriveRaw:"
test.tankDriveRaw(var1, var2)
print
print "Doing holonomicDriveRaw:"
test.holonomicDriveRaw(var1, var2, var3)
print
print "testing the fancy list-based versions, tankDrive then holonomicDrive"
test.tankDrive([0, var1], [0, var2])
test.holonomicDrive([var1, var2, 0, var3])
print
print "Don\'t forget to stop the robot"
test.stop()
test_passed = True
except:
print "fail"
if test_passed:
print "The robot is able to move, test passed"
class tests(cmd.Cmd):
def __init__(self):
cmd.Cmd.__init__(self)
self.prompt = "2412_debug# "
def do_driver(self, args):
"""Actually tests the driver class I wrote"""
return do_driver(args)
def do_EOF(self, args):
import sys
print
sys.exit(0)
def do_args(self, args):
"""A dummy to test variable handling"""
return do_args(args)
def do_show(self, args):
"""A failed show command"""
arg = args.split()
if arg[0] == "test":
print test
if arg[0] == "ver":
print "Version 0.2, Touko"
else:
for n in var:
if arg[0] == n:
print var[n][arg[0]]
def do_var(self, args):
"""Sets variables, can't do much else :("""
args = args.split()
if args[0] == "test":
test = args[1]
print "test case"
else:
var.append({args[0]:args[1]})
print "other case"
print "variable " + args[0] + " set to " + args[1]
def do_showVars(self, args):
"""Shows all raw variables"""
args = args.split()
for n in var:
print n
def do_prompt(self, args):
"""Allows you to change your prompt"""
args = args.split()
self.prompt = args[0]
def do_cure_cancer(self, args):
"""the obligatory easter egg"""
args = args.split()
print "sorry, my mentor told me to not make programs cure cancer :P"
main = tests()
main.cmdloop()
outputs.py
Code:
#not the main class
try:
import wpilib as wpi
except:
import testing as wpi
class Driver:
def __init__(self, port1, port2, port3, port4):
self.FL = wpi.Victor(port1)
self.FR = wpi.Victor(port2)
self.RL = wpi.Victor(port3)
self.RR = wpi.Victor(port4)
self.vicList = [self.FL, self.FR, self.RL, self.RR]
def stop(self):
"""Stops the robot, useful for everything"""
self.tankDriveRaw(0, 0)
print "Robot Stopped"
def tankDrive(self, stick, stick2):
left = stick[1]
right = stick2[1]
try:
self.vicList[0].Set(left)
self.vicList[1].Set(-right)
self.vicList[2].Set(left)
self.vicList[3].Set(-right)
except:
print "tankDrive at " + str(left) + " and " + str(right)
def holonomicDrive(self, xboxController):
power = xboxController[1] #y-axis, first stick
strafe = xboxController[0] #x-axis, first stick
spin = xboxController[3] #x-axis, second stick (x...[2] is the trigger axis)
fl = power + strafe + spin
fr = power - strafe - spin
rl = power - strafe + spin
rr = power + strafe - spin
print "holonomicDrive called"
self.FL.Set(fl)
self.FR.Set(fr)
self.RL.Set(rl)
self.RR.Set(rr)
def tankDriveRaw(self, left, right):
self.vicList[0].Set(left)
self.vicList[1].Set(-right)
self.vicList[2].Set(left)
self.vicList[3].Set(-right)
print "tankDriveRaw at " + str(left) + " and " + str(right)
def holonomicDriveRaw(self, power, strafe, spin):
fl = power + strafe + spin
fr = power - strafe - spin
rl = power - strafe + spin
rr = power + strafe - spin
print 'holonomicDriveRaw called'
self.FL.Set(fl)
self.FR.Set(fr)
self.RL.Set(rl)
self.RR.Set(rr)
inputs.py
Code:
#inputs.py
def system():
pass
try:
import wpilib as wpi
system.runPlace = 0 # robot
except:
import testing as wpi
system.runPlace = 1 # laptop
class Attack3:
def __init__(self, port):
self.port = port
self.joy = wpi.Joystick(self.port)
print "New Attack3 configured at port " + str(port)
def getAxies(self, x_axis, y_axis):
"""Returns a list in the format of [arg1, arg2]"""
resultant = list()
resultant.append(self.joy.GetRawAxis(x_axis))
resultant.append(self.joy.GetRawAxis(y_axis))
return resultant
def getStickAxes(self):
return self.getAxies(2,1)
def getThrottle(self):
return self.joy.GetRawAxis(3)
def getButtons(self):
r = [] #r is of type list
for n in range(1,12):
r.append(self.joy.GetRawButton(n))
#To the tune of ghostbusters:
#When there's an annoying problem, that you need to solve?
#whatcha gonna use?
#A FOR LOOP!
#when there's a lot of data
#that you need to parse
#whatcha gonna use?
#A FOR LOOP!
#I ain't afraid of no macs
#XD
return r
def getTrigger(self):
return self.getButtons()[0]
class Xbox():
def __init__(self, port):
self.port = port
self.joy = wpi.Joystick(self.port)
self.a = 1
self.b = 2
self.x = 4
self.y = 3
self.lb = 6
self.rb = 5
self.back = 7
self.start = 8
print "New Attack3 configured at port " + str(port)
def bufferIt(n):
if abs(n) < 0.2:
n = 0
return n
def getAxies(self, x_axis, y_axis):
"""Returns a list in the format of [arg1, arg2]"""
resultant = list()
resultant.append(bufferIt(self.joy.GetRawAxis(x_axis)))
resultant.append(bufferIt(self.joy.GetRawAxis(y_axis)))
return resultant
def getAllAxes(self):
r = list()
for n in range(1,6):
r.append(bufferIt(self.joy.GetRawAxis(n)))
return r
def getButton(self, button):
return self.joy.GetRawButton(button)
def getButtonList(self):
r = list()
for n in range(1,9):
r.append(self.joy.getRawButton(n))
return r
testing.py
Code:
#This file should emulate enough of wpilib to make it usable for testing
#TODO: use pygame to get joystick inputs from actual joysticks
def limit(n):
if n > 1.0:
return 1.0
elif n < -1.0:
return -1.0
else:
return n
class Victor:
def __init__(self, port):
self.port = port
print "Virtual Victor set up on port " + str(port)
self.speed = float()
def Set(self, speed):
"""***FOR TESTING PURPOSES ONLY***
This "sets" the virtual Victor to any arbitrary speed"""
speed = limit(speed)
print "on port " + str(self.port) + " the speed is now " + str(speed)
self.speed = speed
def Get(self):
"""***FOR TESTING PURPOSES ONLY***
This emulates the wpilib.Victor.Get function"""
return self.speed
class Joystick:
def __init__(self, port):
self.port = port
print "New joystick set up at port "+str(port)
def Get(self):
return 0.5
def speedReport(list_obj):
"""Use this for the driver object"""
for n in list_obj:
n.Get()
def IsDisabled():
return False
def IsAutonomous():
return False
def IsOperatorControl():
return True
def IsEnabled():
return True
class dummyDog:
def SetEnabled(self, var):
pass
def SetExpiration(self, var):
pass
def Feed(self):
pass
def GetWatchdog():
return dummyDog()
run debug_test.py
its a shell interface to my tests, you can throughly ignore show and var, it was a part of another project i attempted (and failed at)
driver does the cool stuff
have fun! |
