81 lines
1.9 KiB
Python
81 lines
1.9 KiB
Python
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# Creates instructions for the robot to move 360 degrees around, make photos of the ball-plate and write the ball_colors to the database
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import MySQLdb
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import random
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import serial
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import time
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from struct import pack
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def sendBin( dec ):
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x = pack('i', dec)
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ser.write(x[1])
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ser.write(x[0])
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ser = serial.Serial('/dev/ttyACM0', 9600) # Change name if necessary. Find out name with ls /dev/tty* (1x without, 1x with USB connected)
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time.sleep(2) # Arduino resets, so wait for some time
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# Create instructions to turn around
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signature = chr(0b01010010) # from raspberry
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priority0 = chr(0b00000000) # add to end of queue
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priority1 = chr(0b00000001)
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moveJ = chr(0b00000001) # binary 1
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moveA = chr(0b00000100) # binary 4
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pause = chr(0b00000111) # binary 7
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dontChange = chr(0b01111111) + chr(0b11111111)
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eot = chr(0b11111111) + chr(0b11111111) # end of transmission
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magOff = chr(0b00000000)
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magOn = chr(0b00000001)
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# a, r, h
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if 1 == 1:
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msg = signature + priority0 + moveJ
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ser.write(msg)
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sendBin(120)
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sendBin(100)
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sendBin(10)
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ser.write(eot)
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msg = signature + priority0 + pause
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ser.write(msg)
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sendBin(5000)
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ser.write(eot)
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msg = signature + priority0 + moveJ
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ser.write(msg)
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sendBin(80)
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sendBin(110)
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sendBin(20)
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ser.write(eot)
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if 1 == 0:
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msg = signature + priority0 + moveA
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ser.write(msg)
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sendBin(50)
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sendBin(128)
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sendBin(90)
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msg = magOff + eot
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ser.write(msg)
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msg = signature + priority0 + moveA
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ser.write(msg)
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sendBin(30)
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sendBin(180)
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sendBin(100)
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msg = magOff + eot
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ser.write(msg)
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msg = signature + priority1 + pause
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ser.write(msg)
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sendBin(2000)
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ser.write(eot)
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while True:
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print(ser.readline())
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ser.close() # close serial connection
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# For debugging
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#file = open("testfile.txt", "w")
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#file.write("update")
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#file.close
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