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diff --git a/App/JS/Resources/CurrentEmuBotCode2/__pycache__/wheel_arm_class.cpython-35.pyc b/App/JS/Resources/CurrentEmuBotCode2/__pycache__/wheel_arm_class.cpython-35.pyc
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diff --git a/App/JS/Resources/CurrentEmuBotCode2/basic_classes.py b/App/JS/Resources/CurrentEmuBotCode2/basic_classes.py
new file mode 100644
index 0000000..3865488
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/basic_classes.py
@@ -0,0 +1,93 @@
+""" Basic classes to be used by more advanced classes in wheel_arm_class.py """
+
+import threading
+import time
+import connect
+
+class Joint(threading.Thread):
+ """ A Joint class representing a moving node on parts of the emubot """
+
+ def __init__(self, identity, position):
+ """ __init__(identity, position): parameters represent identification and position """
+ threading.Thread.__init__(self)
+ self.direction = "neutral"
+ self.id = identity
+ self.position = position
+ self.move_joint(self.position, 900)
+
+ def run(self):
+ """ Step through a sequence of moves """
+ while self.direction != "":
+ if self.direction == "decrease":
+ if self.position > 200:
+ self.position -= 15
+ elif self.direction == "increase":
+ if self.position < 800:
+ self.position += 15
+ if self.direction != "neutral":
+ self.move_joint(self.position, 900)
+ time.sleep(0.1)
+
+ def move_joint(self, position, speed):
+ """ Move the joint """
+ output = ''
+
+ if self.id < 10:
+ output += '0' + str(self.id)
+ else:
+ output += str(self.id)
+
+ for _ in range(4 - len(str(position))):
+ output += '0'
+
+ output += str(position)
+
+ for _ in range(4 - len(str(speed))):
+ output += '0'
+
+ output += str(position)
+
+ output += '\n'
+ connect.SOCKET.sendall(bytes(output, 'utf-8'))
+
+class Wheel(object):
+ """ A Wheel class representing a wheel of the emubot """
+
+ def __init__(self, identity):
+ """ Wheel.__init__(ID): parameters - the ID of the wheel """
+ self.id = str(identity)
+ self.direction = "none"
+ self.speed = 0
+
+ def move_wheel(self, speed):
+ """ Move the wheel """
+ self.speed = speed
+ output = '0' + self.id
+
+ if self.speed < 11 and self.speed > -11:
+ self.speed = 0
+ elif self.speed < 0:
+ output += '-'
+ self.speed = self.speed*-1
+
+ for _ in range(4 - len(str(self.speed))):
+ output += '0'
+
+ output += str(self.speed)
+ connect.SOCKET.sendall(bytes(output+"\n", 'utf-8'))
+
+class Switch(object):
+ """ A Switch class representing a switch on the emubot """
+
+ def __init__(self):
+ """ Switch.__init__(): initialise variables """
+ self.on = True
+
+ def change_status():
+ """ Change the status of the switch """
+ if self.on:
+ connect.SOCKET.sendall(bytes("OFF\n", "utf-8"))
+ self.on = False
+ else:
+ connect.SOCKET.sendall(bytes("ON\n", "utf-8"))
+ self.on = True
diff --git a/App/JS/Resources/CurrentEmuBotCode2/client.py b/App/JS/Resources/CurrentEmuBotCode2/client.py
new file mode 100644
index 0000000..5ce9320
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/client.py
@@ -0,0 +1,160 @@
+""" The movement client for the emubot """
+
+import basic_classes
+import constants
+import controller
+import wheel_arm_class
+
+LEFT_MOVEMENT = 0
+RIGHT_MOVEMENT = 0
+FORWARDS_MOVEMENT = 0
+
+LOCAL_SWITCH_ON = True
+BACKWARDS_L = 1
+BACKWARDS_R = 1
+
+ARM = wheel_arm_class.Arm([5, 6, 7])
+WHEEL_L1 = basic_classes.Wheel(1)
+WHEEL_R2 = basic_classes.Wheel(2)
+WHEEL_L3 = basic_classes.Wheel(3)
+WHEEL_R4 = basic_classes.Wheel(4)
+
+def move_left_wheels(speed):
+ """ Move the wheels on the left side of the emubot """
+ if speed == 0:
+ WHEEL_L1.move_wheel(0)
+ WHEEL_L3.move_wheel(0)
+ else:
+ WHEEL_L1.move_wheel(speed)
+ WHEEL_L3.move_wheel(speed)
+
+def move_right_wheels(speed):
+ """ Move the wheels on the right side of the emubot """
+ if speed == 0:
+ WHEEL_R2.move_wheel(0)
+ WHEEL_R4.move_wheel(0)
+ else:
+ WHEEL_R2.move_wheel(speed)
+ WHEEL_R4.move_wheel(speed)
+
+print("Event loop starting...")
+
+for event in controller.gamepad.read_loop():
+ try:
+ event_code = event.code
+ event_value = event.value
+
+ if event_code != 0:
+ if event_code == constants.LEFT_TRG:
+ if LEFT_MOVEMENT == 3 or event_value <= 0:
+ if event_value > 0:
+ move_left_wheels(event_value * 4 * BACKWARDS_L)
+ else:
+ move_left_wheels(0)
+ LEFT_MOVEMENT = 1
+ else:
+ LEFT_MOVEMENT = LEFT_MOVEMENT + 1
+
+ elif event_code == constants.RIGHT_TRG:
+ if RIGHT_MOVEMENT == 3 or event_value <= 0:
+ if event_value > 0:
+ move_right_wheels(-(event_value * 4 * BACKWARDS_R))
+ else:
+ move_right_wheels(0)
+ RIGHT_MOVEMENT = 1
+ else:
+ RIGHT_MOVEMENT = RIGHT_MOVEMENT + 1
+
+ elif event_code == constants.LB:
+ if event_value == 1:
+ if BACKWARDS_L > 0:
+ BACKWARDS_L = -1
+ else:
+ BACKWARDS_L = 1
+
+ elif event_code == constants.RB:
+ if event_value == 1:
+ if BACKWARDS_R > 0:
+ BACKWARDS_R = -1
+ else:
+ BACKWARDS_R = 1
+
+ elif event_code == constants.LHORIZ:
+ if FORWARDS_MOVEMENT == 3 or event_value <= 0:
+ if event_value > 0:
+ move_left_wheels(event_value / 40)
+ move_right_wheels(event_value / 40)
+ elif event_value < 0:
+ move_left_wheels(event_value / 40)
+ move_right_wheels(event_value / 40)
+ else:
+ move_left_wheels(0)
+ move_right_wheels(0)
+ FORWARDS_MOVEMENT = 1
+
+ else:
+ FORWARDS_MOVEMENT = FORWARDS_MOVEMENT + 1
+
+ elif event_code == constants.LVERT:
+ move_left_wheels(-(event_value / 40))
+ move_right_wheels((event_value / 40))
+
+ elif event_code == constants.D_PAD_HORIZONTAL:
+ if event_value == 1:
+ ARM.move_pan(direction="increase")
+ elif event_value == -1:
+ ARM.move_pan(direction="decrease")
+ elif event_value == 0:
+ ARM.move_pan(direction="neutral")
+
+ elif event_code == constants.D_PAD_VERTICAL:
+ if event_value == -1:
+ ARM.move_tilt(direction="increase")
+ elif event_value == 1:
+ ARM.move_tilt(direction="decrease")
+ elif event_value == 0:
+ ARM.move_tilt(direction="neutral")
+
+ elif event_code == constants.Y:
+ if event_value == 1:
+ ARM.move_shoulder(direction="increase")
+ elif event_value == 0:
+ ARM.move_shoulder(direction="neutral")
+
+ elif event_code == constants.A:
+ if event_value == 1:
+ ARM.move_shoulder(direction="decrease")
+ elif event_value == 0:
+ ARM.move_shoulder(direction="neutral")
+
+ elif event_code == constants.X:
+ ARM.move_arm_set_position(shoulder_pos=512, tilt_pos=200, pan_pos=512)
+
+ elif event_code == constants.B:
+ if LOCAL_SWITCH_ON and event_value != 0:
+ LOCAL_SWITCH_ON = False
+ print("OFF")
+
+ elif event_value != 0:
+ LOCAL_SWITCH_ON = True
+ print("ON")
+
+ elif event_code == constants.START:
+ # Reset all servos to original positions
+ ARM.reset()
+ WHEEL_L1.move_wheel(0)
+ WHEEL_L3.move_wheel(0)
+ WHEEL_R2.move_wheel(0)
+ WHEEL_R4.move_wheel(0)
+
+ elif event_code == constants.BACK:
+ WHEEL_L1.move_wheel(0)
+ WHEEL_L3.move_wheel(0)
+ WHEEL_R2.move_wheel(0)
+ WHEEL_R4.move_wheel(0)
+
+ else:
+ print("Unidentified Event:", event)
+
+ except BrokenPipeError as error:
+ print(error)
diff --git a/App/JS/Resources/CurrentEmuBotCode2/connect.py b/App/JS/Resources/CurrentEmuBotCode2/connect.py
new file mode 100644
index 0000000..83637fd
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/connect.py
@@ -0,0 +1,20 @@
+""" Establishes the connection between the input device and the emubot """
+
+print("connect setup")
+import socket
+
+HOST, PORT = "192.168.100.1", 9999 #"169.254.44.240", 9999
+SOCKET = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+print("trying to establish a connection")
+
+try:
+ SOCKET.connect((HOST, PORT))
+ print("connect ready")
+except:
+ print("""
+ CONNECTION FAILED.")
+ have you run the code on the raspberry pi?
+ P.S. dont break the pi please
+ """)
+
+print(SOCKET)
diff --git a/App/JS/Resources/CurrentEmuBotCode2/constants.py b/App/JS/Resources/CurrentEmuBotCode2/constants.py
new file mode 100644
index 0000000..3d0e919
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/constants.py
@@ -0,0 +1,45 @@
+""" Constants module for this directory """
+
+# Event Constants
+LEFT_TRG = 2
+RIGHT_TRG = 5
+RB = 311
+LB = 310
+LCLICK = 317
+RCLICK = 318
+RVERT = 4
+RHORIZ = 3
+LVERT = 1
+LHORIZ = 0
+START = 315
+BACK = 314
+A = 304
+B = 305
+Y = 308
+X = 307
+D_PAD_VERTICAL = 17
+D_PAD_HORIZONTAL = 16
+
+# Shoulder Direction
+INCREASE = 1
+DECREASE = 2
+NEUTRAL = 3
+NOTHING = 0
+
+# Switches
+SWITCHON = 1
+SWITCHOFF = 0
+
+# Arm Movement Divisor
+MOVEMENT_SCALING = 4000
+
+# Wheel and Arm Identifcations
+HAND = 7
+ARM = 6
+SHOULDER = 5
+
+# From the back view of the robot:
+FRONT_LEFT_WHEEL = 1
+FRONT_RIGHT_WHEEL = 2
+BACK_LEFT_WHEEL = 3
+BACK_RIGHT_WHEEL = 4
diff --git a/App/JS/Resources/CurrentEmuBotCode2/controller.py b/App/JS/Resources/CurrentEmuBotCode2/controller.py
new file mode 100644
index 0000000..a81599f
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/controller.py
@@ -0,0 +1,22 @@
+""" Initialises the input source by which the emubot is controlled """
+
+import evdev
+
+devices = [evdev.InputDevice(input_source) for input_source in evdev.list_devices()]
+
+controllers = {"Logitech Gamepad F310",
+ "Logitech Gamepad F710",
+ "Microsoft X-Box 360 pad",
+ "Logitech Logitech Cordless RumblePad 2",
+ "Logitech Logitech Dual Action"}
+
+gamepad = None
+for i in devices:
+ if i.name in controllers:
+ gamepad = i
+ break
+
+if gamepad is None:
+ raise TypeError("Variable 'gamepad' is None")
+
+print("Gamepad is:", gamepad)
diff --git a/App/JS/Resources/CurrentEmuBotCode2/switch.py b/App/JS/Resources/CurrentEmuBotCode2/switch.py
new file mode 100644
index 0000000..317a982
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/switch.py
@@ -0,0 +1,13 @@
+""" A module defining a function to change the state of SOCKET """
+
+import connect
+import constants
+
+def switch(state):
+ """ Invert the state of SOCKET """
+ if state == constants.SWITCHON:
+ connect.SOCKET.sendall(bytes("OFF\n", "utf-8"))
+ return constants.SWITCHOFF
+
+ connect.SOCKET.sendall(bytes("ON\n", "utf-8"))
+ return constants.SWITCHON
diff --git a/App/JS/Resources/CurrentEmuBotCode2/wheel_arm_class.py b/App/JS/Resources/CurrentEmuBotCode2/wheel_arm_class.py
new file mode 100644
index 0000000..771cd86
--- /dev/null
+++ b/App/JS/Resources/CurrentEmuBotCode2/wheel_arm_class.py
@@ -0,0 +1,100 @@
+""" Complex classes representing different parts of the emubot """
+
+import basic_classes
+
+print("Classes setup")
+
+class Arm(object):
+ """ Represents an arn of the emubot """
+
+ def __init__(self, identities):
+ """
+ Arm.__init__(identities): parses an array with the identities of the: [shoulder, tilt, pan]
+ Initialises the joints within the arm, and starts their threading
+ """
+
+ self.shoulder = basic_classes.Joint(identities[0], 200)
+ self.tilt = basic_classes.Joint(identities[1], 200)
+ self.pan = basic_classes.Joint(identities[2], 512)
+
+ self.shoulder.start()
+ self.tilt.start()
+ self.pan.start()
+
+ def move_shoulder(self, position=None, direction=None):
+ """ Move the shoulder of the arm """
+ self.shoulder.direction = direction
+
+ def move_tilt(self, position=None, direction=None):
+ """ Tilt the arm """
+ self.tilt.direction = direction
+
+ def move_pan(self, position=None, direction=None):
+ """ Pan the arm """
+ self.pan.direction = direction
+
+ def move_arm_set_position(self, shoulder_pos=None, tilt_pos=None, pan_pos=None):
+ """ Manually set the position of the arm """
+ if shoulder_pos:
+ self.shoulder.position = shoulder_pos
+ if tilt_pos:
+ self.tilt.position = tilt_pos
+ if pan_pos:
+ self.pan.position = pan_pos
+
+ def reset(self):
+ """ Revert the arm to its initial position """
+ self.shoulder.position = 200
+ self.tilt.position = 200
+ self.pan.position = 512
+
+ self.shoulder.move_joint(self.shoulder.position, 900)
+ self.tilt.move_joint(self.tilt.position, 900)
+ self.pan.move_joint(self.pan.position, 900)
+
+ def print_angles(self):
+ """ Print the position, tilt and pan of the arm """
+ print('The shoulder is at position:', self.shoulder.position)
+ print('The Tilt is at position:', self.tilt.position)
+ print('The Pan is at position:', self.pan.position)
+
+print('Arm Class Defined')
+
+class Flipper(object):
+ """ Represents a flipper on the emubot """
+
+ def __init__(self, wheel_id, joint_id):
+ """
+ Flipper.__init__(wheel_id, joint_id): IDs of the servo that controls the flipper
+ Initialises the joints within the flipper
+ """
+
+ self.joint_id = joint_id
+ self.wheel = basic_classes.Wheel(wheel_id)
+
+ self.joint_init()
+ self.joint.start()
+
+ def move_flipper(self, direction=None):
+ """ Move the flipper """
+ self.joint.direction = direction
+
+ def joint_init(self):
+ """ Initialise the flipper's joints """
+ if self.joint_id in [5, 8]:
+ self.joint = basic_classes.Joint(self.joint_id, 200)
+ elif self.joint_id in [6, 7]:
+ self.joint = basic_classes.Joint(self.joint_id, 800)
+
+ def reset(self):
+ """ Revert the flipper to its original position """
+ self.wheel.direction = 'none'
+ self.wheel.move_wheel()
+ self.joint_init()
+
+ def move_wheel(self, direction=None, speed=0):
+ """ Move the wheel of the flipper """
+ self.wheel.speed = speed
+ self.wheel.move_wheel()
+
+print("Flipper Class Defined")
diff --git a/App/JS/client.js b/App/JS/client.js
deleted file mode 100644
index 43392c3..0000000
--- a/App/JS/client.js
+++ /dev/null
@@ -1,60 +0,0 @@
-var net = require('net');
-var client = new net.Socket();
-
-function terminateConnection(connection) {
- connection.write("01-0000");
- connection.write("02-0000");
- connection.write("03-0000");
- connection.write("04-0000");
-}
-
-function axisValue(dynamixel, axis) {
- var gamepad = navigator.getGamepads()[0];
- var val = Math.round((gamepad.axes[axis]+1) * 512);
- //if (dynamixel == 1 || dynamixel == 3) {
- // val -= 1024
- //}
- var out = "";
- if (val < 10) {
- out += "000";
- out += val;
- } else if (val < 100) {
- out += "00";
- out += val;
- } else if (val < 1000) {
- out += "0";
- out += val;
- } else {
- out += val;
- }
- return out
-}
-client.connect(9999, '192.168.100.1', function() {
- window.addEventListener("gamepadconnected", function(event) {
- setInterval(function() {
- client.write('01-' + axisValue(1, 3));
- }, 30);
- setInterval(function() {
- client.write('02-' + axisValue(2, 1));
- }, 30);
- setInterval(function() {
- client.write('03-' + axisValue(3, 3));
- }, 30);
- setInterval(function() {
- client.write('04-' + axisValue(4, 1));
- }, 30);
- setTimeout(function(){
- terminateConnection(client)
- }, 1000)
- });
-});
-
-client.on('close', function(){
- console.warn("Client terminated connection!")
-})
-client.on('end', function(){
- console.warn("Server terminated connection!")
-})
-client.on('error', function(){
- console.warn("Connection to server terminated unexpectedly!")
-})
diff --git a/App/JS/executeShellCommand.js b/App/JS/executeShellCommand.js
new file mode 100644
index 0000000..569a2a9
--- /dev/null
+++ b/App/JS/executeShellCommand.js
@@ -0,0 +1,15 @@
+var exec = require('child_process').exec;
+
+function execute(command) {
+ command = String(command);
+
+ exec(command, function (error, stdout, stderr) {
+ console.log('stdout: ' + stdout);
+ console.log('stderr: ' + stderr);
+ if (error !== null) {
+ console.log('exec error: ' + error);
+ }
+ });
+};
+
+module.exports = { execute };
diff --git a/App/control.html b/App/control.html
index ded0420..5ccffd7 100644
--- a/App/control.html
+++ b/App/control.html
@@ -6,7 +6,10 @@
-
+