[tuxdroid-svn] r843 - api/python/trunk
Status: Beta
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[tuxdroid-svn] r843 - api/python/trunk
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From: Paul_R <c2m...@c2...> - 2008-01-11 13:06:56
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Author: Paul_R
Date: 2008-01-11 14:06:55 +0100 (Fri, 11 Jan 2008)
New Revision: 843
Modified:
api/python/trunk/tuxapi_class.py
api/python/trunk/tuxapi_const.py
Log:
* Added a new command : tux.cmd.move
- Created constants on tuxapi_const.py
Modified: api/python/trunk/tuxapi_class.py
===================================================================
--- api/python/trunk/tuxapi_class.py 2008-01-11 13:03:00 UTC (rev 842)
+++ api/python/trunk/tuxapi_class.py 2008-01-11 13:06:55 UTC (rev 843)
@@ -1756,6 +1756,7 @@
tux.cmd.mouth_on
tux.cmd.mouth_on_free
tux.cmd.mouth_open
+ tux.cmd.move
tux.cmd.ping
tux.cmd.raw
tux.cmd.sleep_off
@@ -1892,7 +1893,99 @@
return 2
else:
return self.cmd_ack()
+
+ #--------------------------------------------------------------------------
+ # Send a command to make move Tux.
+ #--------------------------------------------------------------------------
+ def move(self, movement, counter=0, timeout=0, speed=5, final_state=0, refresh=0):
+ """
+ General command to move Tux.
+ With this command, you can configure, for each type of movements, the
+ number of movements to do, or the duration of the movement.
+ You can also specify the final state to reach.
+
+ Parameters :
+ "movement" as enum : Specify which movement must be configured
+ - 0 / EYES
+ - 1 / MOUTH
+ - 2 / FLIPPERS
+ - 3 / SPIN_L
+ - 4 / SPIN_R
+ "counter" as integer : Specify the number of movements.
+ To execute an infinite movement, this value
+ must be equal to 0. The timeout must also be
+ null, and the final state must stay undefined.
+
+ To execute a single movement, count must be
+ null and a final state must be defined.
+
+ value range : 0 ... 255 (0x00 ... 0xFF)
+
+ "timeout" as float : Specify the duration of the movement (sec.)
+ This value has priority on counter. It means
+ that if counter and timeout are both defined,
+ the counter's value will be ignored.
+
+ The minimal value is 0.01 (10 ms).
+
+ If the value is lower than 0.3 (300 ms), the
+ final state will be ignored. Else, the final
+ state will be applied, so the time can be a
+ little bit greater than specified.
+
+ "speed" as enum : This value specify the movement speed.
+ This parameter is only applicable for the
+ flippers and the spinning.
+
+ - 1 / VERYLOW
+ - 2 / LOW
+ - 3 / MEDIUM
+ - 4 / MIDHIGH
+ - 5 / HIGH
+
+ If speed is not defined, the default speed
+ (HIGH) will be used.
+
+ "final_state" as enum : Specify the final state.
+
+ - 0 / UNDEFINED
+ - 1 / OPEN / UP
+ - 2 / CLOSE / DOWN
+
+ "refresh" as bool : Change speed only.
+ If this flag is set, only the speed will be
+ changed. This allow to change the speed during
+ a movement, without changing the number of
+ movements, or the timeout.
+
+ Examples :
+
+ Blink the eyes 7 time, and finish with the eyes open :
+ >>> tux.cmd.move(0, 7, 0, 0, 1, 0)
+ or
+ >>> tux.cmd.move(movement = EYES, counter = 7, final_state = 1)
+
+ Move wings for 150ms with the maximum speed:
+ >>> tux.cmd.move(2, 0, 0.15, 5, 0, 0)
+ or
+ >>> tux.cmd.move(movement = FLIPPERS, timeout = 0.15, speed = 5)
+
+ Infinite spinning, and change the speed :
+ >>> tux.cmd.move(3, 0, 0, 5, 0, False)
+ >>> tux.cmd.move(3, 0, 0, 2, 0, True)
+ or
+ >>> tux.cmd.move(movement = SPIN_L, speed = HIGH)
+ >>> tux.cmd.move(movement = SPIN_L, speed = LOW, refresh = True)
+ """
+ if timeout:
+ if timeout <= 1.0/100.0:
+ timeout = 1.0/100.0
+ timeout = timeout * 100.0
+
+ self.last_ack=self.estructured(TUX_CMD_STRUCT_MOTORS, movement, counter, \
+ (int(timeout) & 0xFF00)>>8, (int(timeout) & 0xFF), speed, \
+ final_state, int(refresh))
#--------------------------------------------------------------------------
# Send a command to tux for moving the eyes
#--------------------------------------------------------------------------
Modified: api/python/trunk/tuxapi_const.py
===================================================================
--- api/python/trunk/tuxapi_const.py 2008-01-11 13:03:00 UTC (rev 842)
+++ api/python/trunk/tuxapi_const.py 2008-01-11 13:06:55 UTC (rev 843)
@@ -297,6 +297,7 @@
TUX_CMD_STRUCT_PING = 0x0B
TUX_CMD_STRUCT_SLEEP = 0x0C
TUX_CMD_STRUCT_AUDIO_CHANNEL = 0x0D
+TUX_CMD_STRUCT_MOTORS = 0x0E
# Tux structured sub commands
TUX_CMD_STRUCT_SUB_ON = 0x01
TUX_CMD_STRUCT_SUB_OFF = 0x02
@@ -316,6 +317,7 @@
TUX_CMD_STRUCT_SUB_ERASE = 0x0E
TUX_CMD_STRUCT_SUB_SET = 0x0F
TUX_CMD_STRUCT_SUB_PULSE = 0x10
+TUX_CMD_STRUCT_SUB_CONFIG = 0x11
# Tux request information
TUX_REQ_INFO_VERSION = 0x01
@@ -457,6 +459,25 @@
NONE_BT =0
NULL_BT =0xFF
+## tux.cmd.move function constant
+EYES = 0
+MOUTH = 1
+FLIPPERS = 2
+SPIN_L = 3
+SPIN_R = 4
+
+UNDEFINED = 0
+OPEN = 1
+UP = 1
+CLOSE = 2
+DOWN = 2
+
+VERYLOW = 1
+LOW = 2
+MEDIUM = 3
+MIDHIGH = 4
+HIGH = 5
+
HEAD_BUTTON_PUSHED =1
HEAD_BUTTON_RELEASED =2
LEFT_WING_PUSHED =3
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