From 51b419ffc9da40de10f40aceddeadaa593340d02 Mon Sep 17 00:00:00 2001
From: 42loop <ulf.freyhoff@gmx.net>
Date: Wed, 10 Jul 2019 18:16:21 +0200
Subject: [PATCH] finished auto-mode for now
---
bluedot_server/dotserver.py | 68 ++++++++++++++++++++++++++++---------
1 file changed, 52 insertions(+), 16 deletions(-)
diff --git a/bluedot_server/dotserver.py b/bluedot_server/dotserver.py
index a32461d..4156399 100644
--- a/bluedot_server/dotserver.py
+++ b/bluedot_server/dotserver.py
@@ -93,7 +93,7 @@ data1_ids={"lbrushcw":0,"lbrushccw":1,"none":2,"none":3,"rbrushcw":4,"rbrushccw"
#extra out:
# 24V DC 42V AC
data2_ids={"col1":0,"col2":1,"col3":2,"col4":3,"blower":4,"none":5,"none":6,"none":7}
-# 5V DC #special for reset line
+# 5V DC #special for mock reset line
data3_ids={"ampel_fwd":0,"ampel_bwd":1,"ampel_stop":2,"none":3,"reset":4, "none":5,"none":6,"none":7}
#master_in:
@@ -144,7 +144,7 @@ last_position=0
target_position=0
position_reached=False
-maxposition=4 #number of screws triggering position sensor
+maxposition=3 #number of screws triggering position sensor
motion_block=0
@@ -423,6 +423,8 @@ def apply_motion_block():
global data1
global data2
+ global auto
+
global homed
global homing
global position
@@ -438,7 +440,7 @@ def apply_motion_block():
actual_track_speed = 0
target_track_speed= 0
last_track_speed=0
-
+ auto=False
if (motion_block & (1<<data0_ids["bwd"]) !=0):
@@ -447,13 +449,15 @@ def apply_motion_block():
actual_track_speed = 0
target_track_speed= 0
last_track_speed=0
+
if homing:
homing=False
homed=True
position=0
- position_reached=true
-
+ position_reached=True
+ else:
+ auto=False
if (motion_block & (1<<data0_ids["LL"]) !=0):
print("stop LL")
@@ -695,6 +699,8 @@ def sectimerevent():
global target_position
global position_reached
global target_track_speed
+ global target_left_speed
+ global target_right_speed
global data3
global isresetpressed
@@ -707,24 +713,52 @@ def sectimerevent():
print("position_reached")
if auto_stop_requested:
+ print("stopping auto now")
auto=False
auto_stop_requested=False
+ target_left_speed=0
+ target_right_speed=0
+ target_track_speed=0
+
else:
if homed:
- new_t=random.randint(1,maxposition+1)
+ new_t=random.randint(1,maxposition)
while new_t==target_position:
- new_t=random.randint(1,maxposition+1)
+ new_t=random.randint(0,maxposition)
print("new target: ",new_t)
- #target_position=new_t
- #position_reached=False
- #if target_position<position:
- # target_track_speed=-20
- #else:
- # target_track_speed=20
-
+ target_position=new_t
+ position_reached=False
+ if target_position<position:
+ target_track_speed=-20
+ else:
+ target_track_speed=20
+
+ brush_active_L=random.randint(0,1)
+ if brush_active_L==0:
+ newleft=0
+ print("newleftspeed:",newleft)
+ target_left_speed=newleft
+ else:
+ newleft=random.randint(-100,100)
+ while abs(newleft)<50:
+ newleft=random.randint(-100,100)
+ print("newleftspeed:",newleft)
+ target_left_speed=newleft
+
+ brush_active_R=random.randint(0,1)
+ if brush_active_R==0:
+ newright=0
+ print("newrightspeed:",newright)
+ target_right_speed=newright
+ else:
+ newright=random.randint(-100,100)
+ while abs(newright)<70:
+ newright=random.randint(-100,100)
+ print("newrightspeed:",newright)
+ target_right_speed=newright
return
@@ -885,6 +919,7 @@ def pressed(pos,id):
global nextpumptarget
global stoprequested
+ global auto_stop_requested
global leftpressedts
global rightpressedts
@@ -920,6 +955,7 @@ def pressed(pos,id):
if auto:
auto_stop_requested=True
+ print("auto stop requested")
else:
auto=True
home()
@@ -933,11 +969,11 @@ def pressed(pos,id):
stoprequested=True
elif id=="fwd":
- if (power and (motion_block & (1<<data0_ids["fwd"]) ==0)):
+ if ((not auto) and power and (motion_block & (1<<data0_ids["fwd"]) ==0)):
target_track_speed=30
elif id=="bwd":
- if (power and (motion_block & (1<<data0_ids["bwd"]) ==0)):
+ if ((not auto) and power and (motion_block & (1<<data0_ids["bwd"]) ==0)):
target_track_speed=-30
--
GitLab