Revision 12:1aa6b8a74136, committed 2014-11-16

Comitter:

lsaristo

Date:

Sun Nov 16 09:11:34 2014 +0000

Parent:

11:a30f30d3066e

Child:

13:070846d87d4a

Commit message:

Added user-gui python file for drawing surface and file generation. Tried fixing weird wait() issue in direction functions

Changed in this revision

--- a/control.c	Sun Nov 16 05:26:24 2014 +0000
+++ b/control.c	Sun Nov 16 09:11:34 2014 +0000
@@ -23,6 +23,7 @@
     fseek(fp, 0L, SEEK_SET);
     contents = (char*)malloc(size);
     fread(contents, size, 1, fp);
+    memcpy(moves, contents, size);
     fclose(fp);
 }
 
@@ -48,20 +49,14 @@
     wait(.5);
 
     while(1) {
-        if(start_button) {
+        if(!start_button) {
             pi.stop();
             goto start;
         }
-        
+        forward(10);
+        right(90);    
         //
         // Right now the robot controller is clearly a very basic
-        // 'hello world' loop that must be changed.
-        forward(10);
-        right(90);
-        forward(10);
-        right(90);
-        forward(10);
-        wait(2);
-        left(180);
+        // 'hello world' loop that must be changed.      
     }
 }
\ No newline at end of file

--- a/main.c	Sun Nov 16 05:26:24 2014 +0000
+++ b/main.c	Sun Nov 16 09:11:34 2014 +0000
@@ -14,6 +14,7 @@
  * These are global data Used externally in all other files 
  */
 m3pi        pi;
+Timer       timer;
 
 //
 // Digital inputs to the mBed
@@ -45,58 +46,115 @@
     //
     // Basic setup information
     start_button.mode(PullUp);
+        
+    pi.sensor_auto_calibrate();
+    pi.backward(DRIVE_SPEED);
+    float pos;
+    
+    do {
+        pos = pi.line_position();
+        pi.cls();
+        pi.locate(0,0);
+        pi.printf("P: %f", pos);
+    } while(pos != -1 && pos != 1);
+    if(pos == 1) {
+        timer.start();
+        pi.forward(DRIVE_SPEED);
+    } else {
+        pi.stop();
+        pi.cls();
+        pi.locate(0,0);
+        pi.printf("LP: %f",pos);
+        while(1);
+    }
 
+    while(pi.line_position() == 1);
+    do {
+        pos = pi.line_position();
+        pi.cls();
+        pi.locate(0,0);
+        pi.printf("Pos: %f", pos);
+    } while(pos != -1 && pos != 1);
+    if(pos == 1) {
+        oled_1 = 1;
+        timer.stop();
+        pi.stop();           
+    } else {
+        pi.stop();
+        pi.cls();
+        pi.locate(0,0);
+        pi.printf("LP:%f", pos);
+        while(1);
+    }
+    
     //
     // Main program loop.
-    robot_loop();
+    // robot_loop();
     
     //
     // We should never reach this point!
+    while(1);
 }
 
 int forward(int amt)
 {
+    Timer t;
+    t.start();
     oled_2 = 1;
     pi.locate(0,0);
     pi.printf("Fwd %d", amt);
     pi.forward(DRIVE_SPEED);
-    wait(amt*DRIVE_RATE);
+    while(t.read_ms() < amt*DRIVE_RATE*1000);
+    t.stop();
     oled_2 = 0;
+    pi.stop();
     return EXIT_SUCCESS;
 }
 
 int backward(int amt)
 {
+    Timer t;
     oled_3 = 1;
     pi.locate(0,0);
     pi.printf("Back %d", amt);
     pi.backward(DRIVE_SPEED);
-    wait(amt*DRIVE_RATE);
+    t.start();
+    while(t.read_ms() < amt*DRIVE_RATE*1000);
+    t.stop();
     oled_3 = 0;
+    pi.stop();
     return EXIT_SUCCESS;
 }
 
 int right(float deg)
 {
+    Timer t;
     oled_4 = 1;
     pi.locate(0,0);
     pi.printf("Right %f", deg);
     pi.right(TURN_SPEED);
-    wait(deg/360);
+    t.start();
+    while(t.read_ms() < (deg/360)*1000);
+    t.stop();
     oled_4 = 0;
+    pi.stop();
     return EXIT_SUCCESS;
 }
 
 int left(float deg)
 {
+    Timer t;
     oled_4 = 1;
     oled_2 = 1;
     pi.locate(0,0);
     pi.printf("Left %f", deg);
     pi.left(TURN_SPEED);
-    wait(deg/360);
+    t.start();
+    while(t.read_ms() < (deg/360)*1000);
+    t.stop();
     oled_4 = 0;
     oled_2 = 0;
+    pi.stop();
     return EXIT_SUCCESS;
 }
 

--- a/main.h	Sun Nov 16 05:26:24 2014 +0000
+++ b/main.h	Sun Nov 16 09:11:34 2014 +0000
@@ -14,7 +14,7 @@
 #include <stdarg.h>
 #include <stdio.h>
 #define TURN_SPEED  0.25
-#define DRIVE_SPEED 0.25
+#define DRIVE_SPEED 0.15
 #define ERR_SUCCESS 0
 #define ERR_FAILURE 1
 #define DRIVE_RATE  1/50

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/user-gui.py	Sun Nov 16 09:11:34 2014 +0000
@@ -0,0 +1,170 @@
+#!/usr/bin/python
+""""
+    user-gui.py
+
+    This program displays a drawing surface for users to draw images
+    for use with our robot. The program ouputs a control-compatible 
+    representation of the drawing. 
+
+    NOTE: A substantial portion of this code was taken from Dave Michell's
+    example illustrating how to draw on a Python-generated canvas. All credit
+    for those portions of the code belong to him. Below is the header from the
+    original document written by him.
+        
+    # Start origin header ########################
+    
+    Paint program by Dave Michell.
+    
+    Subject: tkinter "paint" example
+    From: Dave Mitchell <davem@magnet.com>
+    To: python-list@cwi.nl
+    Date: Fri, 23 Jan 1998 12:18:05 -0500 (EST)
+    
+      Not too long ago (last week maybe?) someone posted a request
+    for an example of a paint program using Tkinter. Try as I might
+    I can't seem to find it in the archive, so i'll just post mine
+    here and hope that the person who requested it sees this!
+    
+      All this does is put up a canvas and draw a smooth black line
+    whenever you have the mouse button down, but hopefully it will
+    be enough to start with.. It would be easy enough to add some
+    options like other shapes or colors...
+
+                                                yours,
+                                                dave mitchell
+                                                davem@magnet.com
+    
+    # End original header #########################
+    
+"""
+from Tkinter import *
+import os
+import sys
+
+TEMP_FILE = "canvas-temp.ps"
+OUTPUT_FILE = "control.out"
+b1 = "up"
+xold, yold = None, None
+height = 600
+width = 600
+
+class popupWindow(object):
+    """ Class for window resize popup """
+    def __init__(self,master):
+        top=self.top=Toplevel(master)
+        self.l=Label(top,text="Resize Window")
+        self.l.pack()
+        self.h=Label(top,text="Height");
+        self.h.pack()
+        self.e=Entry(top)
+        self.e.pack()
+        self.w=Label(top,text="Width");
+        self.w.pack()
+        self.f=Entry(top);
+        self.f.pack()
+        self.b=Button(top,text='Ok',command=self.cleanup)
+        self.b.pack()
+        self.master = master
+    def cleanup(self):
+        global height
+        global width
+        h = self.e.get()
+        w = self.f.get()
+        self.top.destroy()
+        self.master.geometry(h+"x"+w)
+        height = h
+        width = w
+
+def loop():
+    root = Tk()
+    root.geometry("%dx%d" % (height,width))
+    root.title("RoboCanvas")
+    drawing_area = Canvas(root)
+    drawing_area.pack(fill=BOTH,expand=1)
+    drawing_area.bind("<Motion>", motion)
+    drawing_area.bind("<ButtonPress-1>", b1down)
+    drawing_area.bind("<ButtonRelease-1>", b1up)
+
+    menubar = Menu(root)
+    control_menu = Menu(root);
+    control_menu.add_command(label="Deploy       ", \
+        command=lambda p=drawing_area: build(p));
+    control_menu.add_command(label="Clear Canvas",\
+        command=lambda p=drawing_area: p.delete('all'))
+    control_menu.add_command(label="Resize Canvas", command=lambda p=root:\
+        resize(root));
+    control_menu.add_separator()
+    control_menu.add_command(label="Exit", command=lambda p=root: root.quit())
+    menubar.add_cascade(label="Control Menu", menu=control_menu);
+    root.config(menu=menubar);
+    message = Label(root, text="Press and hold with the mouse to draw. Deploy to generate output file.");
+    message.pack(side=BOTTOM)
+    root.mainloop()
+
+def resize(root):
+    """ Resize the root window and expand the canvas to fill """
+    ans = popupWindow(root);
+
+def build(canvas):
+    """
+    This function is indended to be called from the drawing canvas after
+    the drawing is complete and the user wishes to push it to the robot.
+    This function must send (somehow) the appropriate information to the 
+    robot to make the drawing happen.
+    """
+    gen_postscript(canvas)
+
+def gen_postscript(canvas):
+    """ Make a postscript capture of the canvas """
+    
+    # Get lineto and moveto data from standard postscript output. 
+    l = []
+    ll = []
+    canvas.update()
+    canvas.postscript(file=TEMP_FILE);
+    f = open(TEMP_FILE, "r")
+    for line in f.readlines():
+        if 'lineto' in line or 'moveto' in line:
+            l.append(line)
+    f.close()
+
+    # Filter output.
+    ll.append(l[0])
+    for i, elem in enumerate(list(l)):
+        x = elem.split(' ')
+        ll.append(elem)
+
+    # Write filtered output to the new canvas file.
+    l = l[5:]
+    f = open(OUTPUT_FILE, "w");
+    f.write(str(height) + "/" + str(width)+"\n");
+    for line in l:
+        f.write(line);
+    f.close()
+    os.remove(TEMP_FILE);
+
+def b1down(event):
+    global b1
+    b1 = "down"           # you only want to draw when the button is down
+                          # because "Motion" events happen -all the time-
+
+def b1up(event):
+    global b1, xold, yold
+    b1 = "up"
+    xold = None           # reset the line when you let go of the button
+    yold = None
+
+def motion(event):
+    if b1 == "down":
+        global xold, yold
+        if xold is not None and yold is not None:
+            event.widget.create_line(xold,yold,event.x,event.y,smooth=TRUE)
+        xold = event.x
+        yold = event.y
+
+def main():
+    """ Main program entry point """
+    loop()
+
+if __name__ == "__main__":
+    main()