[tuxdroid-svn] r867 - api/python/trunk
Status: Beta
Brought to you by:
ks156
Menu
▾
▴
[tuxdroid-svn] r867 - api/python/trunk
|
From: Paul_R <c2m...@c2...> - 2008-01-23 11:52:40
|
Author: Paul_R
Date: 2008-01-23 12:52:32 +0100 (Wed, 23 Jan 2008)
New Revision: 867
Modified:
api/python/trunk/tuxapi_class.py
Log:
* Created aliases of the tux.cmd.move function :
- All existing functions have been linked to the tux.cmd.move function
- Replaced all the tux.cmd.wings* function by tux.cmd.flippers*. The 'wings'
functions have been deprecated.
- For each movement type, I've added an 'on_during' function
* Added the documentation for all the movements functions and reorganized the
class's documentation
Modified: api/python/trunk/tuxapi_class.py
===================================================================
--- api/python/trunk/tuxapi_class.py 2008-01-22 08:30:36 UTC (rev 866)
+++ api/python/trunk/tuxapi_class.py 2008-01-23 11:52:32 UTC (rev 867)
@@ -1745,56 +1745,84 @@
"no_ack" as boolean : Allow to wait a ACK from tuxd
Functions list for the users:
- tux.cmd.audio_channel_general
- tux.cmd.audio_channel_tts
- tux.cmd.eyes_close
- tux.cmd.eyes_off
- tux.cmd.eyes_on
- tux.cmd.eyes_on_free
- tux.cmd.eyes_open
- tux.cmd.ir_off
- tux.cmd.ir_on
- tux.cmd.ir_send
- tux.cmd.ledl_during
- tux.cmd.ledl_during_free
- tux.cmd.ledl_off
- tux.cmd.ledl_on
- tux.cmd.ledr_during
- tux.cmd.ledr_during_free
- tux.cmd.ledr_off
- tux.cmd.ledr_on
- tux.cmd.leds_blink
- tux.cmd.leds_during
- tux.cmd.leds_during_free
- tux.cmd.leds_off
- tux.cmd.leds_on
- tux.cmd.mouth_close
- tux.cmd.mouth_off
- 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
- tux.cmd.sleep_on
- tux.cmd.sound_play
- tux.cmd.sound_confirm
- tux.cmd.sound_storing
- tux.cmd.sound_erase
- tux.cmd.sound_test
- tux.cmd.spinl_off
- tux.cmd.spinl_on
- tux.cmd.spinl_on_free
- tux.cmd.spinr_off
- tux.cmd.spinr_on
- tux.cmd.spinr_on_free
- tux.cmd.structured
- tux.cmd.wings_off
- tux.cmd.wings_on
- tux.cmd.wings_on_free
- tux.cmd.wings_up
- tux.cmd.wings_down
+
+ Movements commands :
+ tux.cmd.move : General command
+
+ Eyes commands :
+ tux.cmd.eyes_close
+ tux.cmd.eyes_open
+ tux.cmd.eyes_off
+ tux.cmd.eyes_on
+ tux.cmd.eyes_on_free
+ tux.cmd.eyes_on_during
+
+ Mouth commands :
+ tux.cmd.mouth_close
+ tux.cmd.mouth_open
+ tux.cmd.mouth_off
+ tux.cmd.mouth_on
+ tux.cmd.mouth_on_free
+ tux.cmd.mouth_on_during
+
+ Flippers commands :
+ tux.cmd.flippers_up
+ tux.cmd.flippers_down
+ tux.cmd.flippers_off
+ tux.cmd.flippers_on
+ tux.cmd.flippers_on_free
+ tux.cmd.flippers_on_during
+
+ Spinning commands :
+ tux.cmd.spin_speed
+ tux.cmd.spin_off
+ tux.cmd.spinl_on
+ tux.cmd.spinl_on_during
+ tux.cmd.spinl_on_free
+ tux.cmd.spinr_on
+ tux.cmd.spinr_on_during
+ tux.cmd.spinr_on_free
+
+ LEDs commands :
+ tux.cmd.led_set : General command to set the LEDs
+ tux.cmd.led_pulse : General command to configure the
+ LEDs effects
+
+ tux.cmd.ledl_during
+ tux.cmd.ledl_during_free
+ tux.cmd.ledl_off
+ tux.cmd.ledl_on
+ tux.cmd.ledr_during
+ tux.cmd.ledr_during_free
+ tux.cmd.ledr_off
+ tux.cmd.ledr_on
+ tux.cmd.leds_blink
+ tux.cmd.leds_during
+ tux.cmd.leds_during_free
+ tux.cmd.leds_off
+ tux.cmd.leds_on
+
+ Audio commands :
+ TTS :
+ tux.cmd.audio_channel_general
+ tux.cmd.audio_channel_tts
+
+ Sound flash :
+ tux.cmd.sound_play
+ tux.cmd.sound_confirm
+ tux.cmd.sound_storing
+ tux.cmd.sound_erase
+ tux.cmd.sound_test
+
+ Misc :
+ tux.cmd.ir_off
+ tux.cmd.ir_on
+ tux.cmd.ir_send
+ tux.cmd.ping
+ tux.cmd.raw
+ tux.cmd.sleep_off
+ tux.cmd.sleep_on
+ tux.cmd.structured
"""
#--------------------------------------------------------------------------
@@ -2010,24 +2038,52 @@
#--------------------------------------------------------------------------
# Send a command to tux for moving the eyes
#--------------------------------------------------------------------------
- def eyes_on(self,count=1):
+ def eyes_on(self,counter=1, final_state = 0):
"""
Send a command to tux for moving the eyes
Parameters:
"count" as integer : Number of movements
(default = 1)
-
+
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - OPEN
+ 2 - CLOSE
+ (default = 0)
Example:
>>> tux.cmd.eyes_on()
>>> tux.cmd.eyes_on(2)
+ >>> tux.cmd.eyes_on(counter = 2, final_state = OPEN)
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_EYES, \
- TUX_CMD_STRUCT_SUB_ON,count,0,0)
+ self.move(movement = EYES, counter = counter, final_state = final_state)
self.parent.event.wait_status(DATAS_STATUS_EYES_POSITION_COUNTER, \
- 0,(0.3*count))
+ 0,(0.3*counter))
#--------------------------------------------------------------------------
+ # Send a command to tux for moving the eyes during a defined time
+ #--------------------------------------------------------------------------
+ def eyes_on_during(self, timeout = 0.5, final_state = 0):
+ '''
+ Send a command to tux for moving the eyes during a defined time
+
+ Parameters:
+ "timeout" as float : The movement duration
+
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - OPEN
+ 2 - CLOSE
+ (default = 0)
+
+ The final state is ignored if timeout is
+ < 300ms (0.3)
+
+ Examples :
+ >>> tux.cmd.eyes_on_during(0.5, 1)
+ or
+ >>> tux.cmd.eyes_on_during(timeout = 0.5, final_state = OPEN)
+ '''
+ self.move(movement = EYES, timeout = timeout, final_state = final_state)
+ #--------------------------------------------------------------------------
# Send a command to tux for opening the eyes
#--------------------------------------------------------------------------
def eyes_open(self):
@@ -2037,9 +2093,7 @@
Example:
>>> tux.cmd.eyes_open()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_EYES, \
- TUX_CMD_STRUCT_SUB_OPEN,0,0,0)
-
+ self.move(movement = EYES, final_state = OPEN)
#--------------------------------------------------------------------------
# Send a command to tux for closing the eyes
#--------------------------------------------------------------------------
@@ -2050,13 +2104,11 @@
Example:
>>> tux.cmd.eyes_close()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_EYES, \
- TUX_CMD_STRUCT_SUB_CLOSE,0,0,0)
-
+ self.move(movement = EYES, final_state = CLOSE)
#--------------------------------------------------------------------------
# Send a command to tux for moving the eyes in free mode
#--------------------------------------------------------------------------
- def eyes_on_free(self,count=1):
+ def eyes_on_free(self,counter=1, final_state = 0):
"""
Send a command to tux for moving the eyes in free mode
@@ -2064,11 +2116,17 @@
"count" as integer : number of movements
(default = 1)
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - OPEN
+ 2 - CLOSE
+ (default = 0)
+
Example:
>>> tux.cmd.eyes_on_free()
>>> tux.cmd.eyes_on_free(2)
+ >>> tux.cmd.eyes_on_free(counter = 2, final_state = OPEN)
"""
- t=threading.Thread(target=self.eyes_on,args=(count,))
+ t=threading.Thread(target=self.eyes_on,args=(counter,final_state,))
t.setName('cmd.eyes_on')
t.start()
self.parent.daemon.free_thread_list.append(t)
@@ -2079,17 +2137,16 @@
def eyes_off(self):
"""
Send a command to tux for stopping the eyes movement
-
+
Example:
>>> tux.cmd.eyes_off()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_EYES, \
- TUX_CMD_STRUCT_SUB_OFF,0,0,0)
+ self.move(movement = EYES, final_state = STOP)
#--------------------------------------------------------------------------
# Send a command to tux for moving the mouth
#--------------------------------------------------------------------------
- def mouth_on(self,count=1):
+ def mouth_on(self,counter=1, final_state = 0):
"""
Send a command to tux for moving the mouth
@@ -2097,19 +2154,23 @@
"count" as integer : number of movements
(default = 1)
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - OPEN
+ 2 - CLOSE
+ (default = 0)
Example:
>>> tux.cmd.mouth_on()
>>> tux.cmd.mouth_on(2)
+ >>> tux.cmd.mouth_on(counter = 2, final_state = CLOSE)
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_MOUTH, \
- TUX_CMD_STRUCT_SUB_ON,count,0,0)
+ self.move(movement = MOUTH, counter = counter, final_state = final_state)
self.parent.event.wait_status(DATAS_STATUS_MOUTH_POSITION_COUNTER, \
- 0,(0.3*count))
+ 0,(0.3*counter))
#--------------------------------------------------------------------------
# Send a command to tux for moving the mouth in free mode
#--------------------------------------------------------------------------
- def mouth_on_free(self,count=1):
+ def mouth_on_free(self,counter=1, final_state = 0):
"""
Send a command to tux for moving the mouth in free mode
@@ -2117,16 +2178,45 @@
"count" as integer : number of movements
(default = 1)
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - OPEN
+ 2 - CLOSE
+ (default = 0)
Example:
>>> tux.cmd.mouth_on_free()
>>> tux.cmd.mouth_on_free(2)
+ >>> tux.cmd.mouth_on_free(counter = 2, final_state = CLOSE)
"""
- t=threading.Thread(target=self.mouth_on,args=(count,))
+ t=threading.Thread(target=self.mouth_on,args=(counter,final_state,))
t.setName('cmd.mouth_on')
t.start()
self.parent.daemon.free_thread_list.append(t)
#--------------------------------------------------------------------------
+ # Send a command to tux for moving the mouth during a defined time
+ #--------------------------------------------------------------------------
+ def mouth_on_during(self, timeout = 0.5, final_state = 0):
+ '''
+ Send a command to tux for moving the mouth during a defined time
+
+ Parameters:
+ "timeout" as float : The movement duration
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - OPEN
+ 2 - CLOSE
+ (default = 0)
+
+ The final state is ignored if timeout is
+ < 300ms (0.3)
+
+ Examples :
+ >>> tux.cmd.mouth_on_during(0.5, 1)
+ or
+ >>> tux.cmd.mouth_on_during(timeout = 0.5, final_state = OPEN)
+ '''
+ self.move(movement = MOUTH, timeout = timeout, final_state = final_state)
+
+ #--------------------------------------------------------------------------
# Send a command to tux for opening the mouth
#--------------------------------------------------------------------------
def mouth_open(self):
@@ -2136,8 +2226,7 @@
Example:
>>> tux.cmd.mouth_open()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_MOUTH, \
- TUX_CMD_STRUCT_SUB_OPEN,0,0,0)
+ self.move(movement = MOUTH, final_state = OPEN)
#--------------------------------------------------------------------------
# Send a command to tux for closing the mouth
#--------------------------------------------------------------------------
@@ -2148,8 +2237,7 @@
Example:
>>> tux.cmd.mouth_close()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_MOUTH, \
- TUX_CMD_STRUCT_SUB_CLOSE,0,0,0)
+ self.move(movement = MOUTH, final_state = CLOSE)
#--------------------------------------------------------------------------
# Send a command to tux for stopping the mouth movement
#--------------------------------------------------------------------------
@@ -2160,15 +2248,13 @@
Example:
>>> tux.cmd.mouth_off()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_MOUTH, \
- TUX_CMD_STRUCT_SUB_OFF,0,0,0)
-
+ self.move(movement = MOUTH, final_state = STOP)
#--------------------------------------------------------------------------
- # Send a command to tux for moving the wings
+ # Send a command to tux for moving the flippers
#--------------------------------------------------------------------------
- def wings_on(self,count=1,speed=5):
+ def flippers_on(self,counter=1,speed=5, final_state = 0):
"""
- Send a command to tux for moving the wings
+ Send a command to tux for moving the flippers
Parameters:
"count" as integer : number of movements
@@ -2176,82 +2262,179 @@
"speed" as integer : speed of the movement(1-5)
(default = 5)
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - UP
+ 2 - DOWN
+ (default = 0)
Example:
- >>> tux.cmd.wings_on()
- >>> tux.cmd.wings_on(2) (2 movements)
- >>> tux.cmd.wings_on(2,5) (2 movements and speed=5)
+ >>> tux.cmd.flippers_on()
+ >>> tux.cmd.flippers_on(2) (2 movements)
+ >>> tux.cmd.flippers_on(2,5) (2 movements and speed=5)
+ >>> tux.cmd.flippers_on(2,5,1)
+ >>> tux.cmd.flippers_on(counter = 2, speed = HIGH, final_state = UP)
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_WINGS, \
- TUX_CMD_STRUCT_SUB_ON,count,speed,0)
+ self.move(movement = FLIPPERS, counter = counter, speed = speed,\
+ final_state = final_state)
self.parent.event.wait_status(DATAS_STATUS_WINGS_POSITION_COUNTER, \
- 0,(0.6*count))
+ 0,(0.6*counter))
#--------------------------------------------------------------------------
- # Send a command to tux for moving the wings in free mode
+ # Send a command to tux for moving the flippers in free mode
#--------------------------------------------------------------------------
- def wings_on_free(self,count=1,speed=5):
+ def flippers_on_free(self,counter=1,speed=5, final_state = 0):
"""
- Send a command to tux for moving the wings in free mode
+ Send a command to tux for moving the flippers in free mode
Parameters:
"count" as integer : number of movements
(default = 1)
- "speed" as integer : speed of the movement(1..5)
+ "speed" as integer : speed of the movement(1-5)
(default = 5)
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - UP
+ 2 - DOWN
+ (default = 0)
Example:
- >>> tux.cmd.wings_on_free()
- >>> tux.cmd.wings_on_free(2) (2 movements)
- >>> tux.cmd.wings_on_free(2,5) (2 movements and speed=5)
+ >>> tux.cmd.flippers_on_free()
+ >>> tux.cmd.flippers_on_free(2) (2 movements)
+ >>> tux.cmd.flippers_on_free(2,5) (2 movements and speed=5)
+ >>> tux.cmd.flippers_on_free2,5,1)
+ >>> tux.cmd.flippers_on_free(counter = 2, speed = HIGH, final_state = UP)
"""
- t=threading.Thread(target=self.wings_on,args=(count,speed,))
- t.setName('cmd.wings_on')
+ t=threading.Thread(target=self.flippers_on,args=(counter,speed,final_state,))
+ t.setName('cmd.flippers_on')
t.start()
self.parent.daemon.free_thread_list.append(t)
#--------------------------------------------------------------------------
- # Send a command to tux for stopping the wings movement
+ # Send a command to tux for moving the flippers during a defined time
#--------------------------------------------------------------------------
- def wings_off(self):
+ def flippers_on_during(self, timeout = 0.5, final_state = 0, speed = 5):
+ '''
+ Send a command to tux for moving the flippers during a defined time
+
+ Parameters:
+ "timeout" as float : The movement duration
+ "final_state" as enum : 0 - UNDEFINED
+ 1 - UP
+ 2 - DOWN
+ (default = 0)
+
+ The final state is ignored if timeout is
+ < 300ms (0.3)
+
+ "speed" as enum : speed of the movement
+ 1 - VERYLOW
+ 2 - LOW
+ 3 - MEDIUM
+ 4 - MIDHIGH
+ 5 - HIGH
+ (default = 5)
+
+ Examples :
+ >>> tux.cmd.flippers_on_during(0.5, 1, 5)
+ or
+ >>> tux.cmd.flippers_on_during(timeout = 0.5, final_state = OPEN, speed = HIGH)
+ '''
+ self.move(movement = FLIPPERS, timeout = timeout, \
+ final_state = final_state, \
+ speed = speed)
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux to change the speed of the flippers
+ #--------------------------------------------------------------------------
+ def flippers_speed(self, speed):
+ '''
+ Send a command to tux to change the flippers speed
+
+ Parameters:
+ "speed" as enum : speed of the movement
+ 1 - VERYLOW
+ 2 - LOW
+ 3 - MEDIUM
+ 4 - MIDHIGH
+ 5 - HIGH
+
+ Examples :
+ >>> tux.cmd.flippers_speed(5)
+ or
+ >>> tux.cmd.flippers_speed(speed = HIGH)
+ '''
+ self.move(movement = FLIPPERS, speed = speed, refresh = True)
+ #--------------------------------------------------------------------------
+ # Send a command to tux for stopping the flippers movement
+ #--------------------------------------------------------------------------
+ def flippers_off(self):
"""
- Send a command to tux for stopping the wings movement
+ Send a command to tux for stopping the flippers movement
Example:
- >>> tux.cmd.wings_off()
+ >>> tux.cmd.flippers_off()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_WINGS, \
- TUX_CMD_STRUCT_SUB_OFF,0,0,0)
-
+ self.move(movement = FLIPPERS, final_state = STOP)
#--------------------------------------------------------------------------
- # Send a command to tux for raise the wings
+ # Send a command to tux for raise the flippers
#--------------------------------------------------------------------------
- def wings_up(self):
+ def flippers_up(self):
"""
- Send a command to tux for raise the wings
+ Send a command to tux for raise the flippers
Example:
- >>> tux.cmd.wings_up()
+ >>> tux.cmd.flippers_up()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_WINGS, \
- TUX_CMD_STRUCT_SUB_UP,0,0,0)
+ self.move(movement = FLIPPERS, final_state = UP)
#--------------------------------------------------------------------------
- # Send a command to tux for raise the wings
+ # Send a command to tux for lower the flippers
#--------------------------------------------------------------------------
- def wings_down(self):
+ def flippers_down(self):
"""
- Send a command to tux for lower the wings
+ Send a command to tux for lower the flippers
Example:
- >>> tux.cmd.wings_down()
+ >>> tux.cmd.flippers_down()
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_WINGS, \
- TUX_CMD_STRUCT_SUB_DOWN,0,0,0)
+ self.move(movement = FLIPPERS, final_state = DOWN)
#--------------------------------------------------------------------------
+ # Send a command to tux to spin to the right during a defined time
+ #--------------------------------------------------------------------------
+ def spin_speed(self, speed):
+ '''
+ Send a command to tux to change the spinning speed
+
+ Parameters:
+ "speed" as enum : speed of the movement
+ 1 - VERYLOW
+ 2 - LOW
+ 3 - MEDIUM
+ 4 - MIDHIGH
+ 5 - HIGH
+
+ Examples :
+ >>> tux.cmd.spin_speed(5)
+ or
+ >>> tux.cmd.spin_speed(speed = HIGH)
+ '''
+ self.move(movement = SPIN_R, speed = speed, refresh = True)
+
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux to stop the spinning
+ #--------------------------------------------------------------------------
+ def spin_off(self):
+ '''
+ Send a command to tux to stop the spinning
+
+ Example :
+ >>> tux.cmd.spin_off()
+ '''
+ self.move(movement = SPIN_R, final_state = STOP)
+ #--------------------------------------------------------------------------
# Send a command to tux to spin to the left
#--------------------------------------------------------------------------
- def spinl_on(self,count=4,speed=5):
+ def spinl_on(self,counter=4,speed=5):
"""
Send a command to tux to spin to the left
@@ -2266,15 +2449,14 @@
>>> tux.cmd.spinl_on(2) (count = 2)
>>> tux.cmd.spinl_on(2,5) (count = 2 and speed = 5)
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_SPINL, \
- TUX_CMD_STRUCT_SUB_ON,count,speed,0)
+ self.move(movement = SPIN_L, counter = counter, speed = speed)
self.parent.event.wait_status(DATAS_STATUS_SPIN_POSITION_COUNTER, \
- 0,(0.5*count))
+ 0,(0.5*counter))
#--------------------------------------------------------------------------
# Send a command to tux to spin to the left in free mode
#--------------------------------------------------------------------------
- def spinl_on_free(self,count=4,speed=5):
+ def spinl_on_free(self,counter=4,speed=5):
"""
Send a command to tux to spin to the left in free mode
@@ -2289,28 +2471,41 @@
>>> tux.cmd.spinl_on_free(2) (count = 2)
>>> tux.cmd.spinl_on_free(2,5) (count = 2 and speed = 5)
"""
- t=threading.Thread(target=self.spinl_on,args=(count,speed,))
+ t=threading.Thread(target=self.spinl_on,args=(counter,speed,))
t.setName('cmd.spinl_on')
t.start()
self.parent.daemon.free_thread_list.append(t)
#--------------------------------------------------------------------------
- # Send a command to tux for stopping the spinning movement
+ # Send a command to tux to spin to the left during a defined time
#--------------------------------------------------------------------------
- def spinl_off(self):
- """
- Send a command to tux for stopping the spinning movement
+ def spinl_on_during(self, timeout = 0.5, speed = 5):
+ '''
+ Send a command to tux to spin left during a defined time
- Example:
- >>> tux.cmd.spinl_off()
- """
- self.last_ack=self.structured(TUX_CMD_STRUCT_SPINL, \
- TUX_CMD_STRUCT_SUB_OFF,0,0,0)
+ Parameters:
+ "timeout" as float : The movement duration
+
+ "speed" as enum : speed of the movement
+ 1 - VERYLOW
+ 2 - LOW
+ 3 - MEDIUM
+ 4 - MIDHIGH
+ 5 - HIGH
+ (default = 5)
+ Examples :
+ >>> tux.cmd.spinl_on_during(0.5, 5)
+ or
+ >>> tux.cmd.spinl_on_during(timeout = 0.5, speed = HIGH)
+ '''
+ self.move(movement = SPIN_L, timeout = timeout, speed = speed)
+
+
#--------------------------------------------------------------------------
# Send a command to tux to spin to the right
#--------------------------------------------------------------------------
- def spinr_on(self,count=4,speed=5):
+ def spinr_on(self,counter=4,speed=5):
"""
Send a command to tux to spin to the right
@@ -2325,15 +2520,14 @@
>>> tux.cmd.spinr_on(2) (count = 2)
>>> tux.cmd.spinr_on(2,5) (count = 2 and speed = 5)
"""
- self.last_ack=self.structured(TUX_CMD_STRUCT_SPINR, \
- TUX_CMD_STRUCT_SUB_ON,count,speed,0)
+ self.move(movement = SPIN_R, counter = counter, speed = speed)
self.parent.event.wait_status(DATAS_STATUS_SPIN_POSITION_COUNTER,0, \
- (0.5*count))
+ (0.5*counter))
#--------------------------------------------------------------------------
# Send a command to tux to spin to the right in free mode
#--------------------------------------------------------------------------
- def spinr_on_free(self,count=4,speed=5):
+ def spinr_on_free(self,counter=4,speed=5):
"""
Send a command to tux to spin to the right in free mode
@@ -2348,24 +2542,37 @@
>>> tux.cmd.spinr_on_free(2) (count = 2)
>>> tux.cmd.spinr_on_free(2,5) (count = 2 and speed = 5)
"""
- t=threading.Thread(target=self.spinr_on,args=(count,speed,))
+ t=threading.Thread(target=self.spinr_on,args=(counter,speed,))
t.setName('cmd.spinr_on')
t.start()
self.parent.daemon.free_thread_list.append(t)
#--------------------------------------------------------------------------
- # Send a command to tux for stopping the spinning movement
+ # Send a command to tux to spin to the right during a defined time
#--------------------------------------------------------------------------
- def spinr_off(self):
- """
- Send a command to tux for stopping the spinning movement
+ def spinr_on_during(self, timeout = 0.5, speed = 5):
+ '''
+ Send a command to tux to spin right during a defined time
- Example:
- >>> tux.cmd.spinr_off()
- """
- self.last_ack=self.structured(TUX_CMD_STRUCT_SPINR, \
- TUX_CMD_STRUCT_SUB_OFF,0,0,0)
+ Parameters:
+ "timeout" as float : The movement duration
+
+ "speed" as enum : speed of the movement
+ 1 - VERYLOW
+ 2 - LOW
+ 3 - MEDIUM
+ 4 - MIDHIGH
+ 5 - HIGH
+ (dafault = 5)
+ Examples :
+ >>> tux.cmd.spinr_on_during(0.5, 5)
+ or
+ >>> tux.cmd.spinr_on_during(timeout = 0.5, speed = HIGH)
+ '''
+ self.move(movement = SPIN_R, timeout = timeout, speed = speed)
+
+
#--------------------------------------------------------------------------
# Send a command to tux for turning the IR on
#--------------------------------------------------------------------------
@@ -2949,6 +3156,86 @@
TUX_CMD_STRUCT_SUB_CH_TTS,0,0,0)
self.no_ack=False
+#--------------------------------------------------------------------------
+# Deprecated functions
+#--------------------------------------------------------------------------
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux for moving the wings
+ #--------------------------------------------------------------------------
+ def wings_on(self,counter=1,speed=5):
+ """
+ Deprecated :
+ see tux.cmd.flippers_on
+ """
+ self.move(movement = FLIPPERS, counter = counter, speed = speed)
+ self.parent.event.wait_status(DATAS_STATUS_WINGS_POSITION_COUNTER, \
+ 0,(0.6*counter))
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux for moving the wings in free mode
+ #--------------------------------------------------------------------------
+ def wings_on_free(self,counter=1,speed=5):
+ """
+ Deprecated :
+ see tux.cmd.flippers_on_free
+ """
+ t=threading.Thread(target=self.wings_on,args=(counter,speed,))
+ t.setName('cmd.wings_on')
+ t.start()
+ self.parent.daemon.free_thread_list.append(t)
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux for stopping the wings movement
+ #--------------------------------------------------------------------------
+ def wings_off(self):
+ """
+ Deprecated :
+ see tux.cmd.flippers_off
+ """
+ self.move(movement = FLIPPERS, final_state = STOP)
+ #--------------------------------------------------------------------------
+ # Send a command to tux for raise the wings
+ #--------------------------------------------------------------------------
+ def wings_up(self):
+ """
+ Deprecated :
+ see tux.cmd.flippers_up
+ """
+ self.move(movement = FLIPPERS, final_state = UP)
+ #self.last_ack=self.structured(TUX_CMD_STRUCT_WINGS, \
+ # TUX_CMD_STRUCT_SUB_UP,0,0,0)
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux for lower the wings
+ #--------------------------------------------------------------------------
+ def wings_down(self):
+ """
+ Deprecated :
+ see tux.cmd.flippers_down
+ """
+ self.move(movement = FLIPPERS, final_state = DOWN)
+
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux for stopping the spinning movement
+ #--------------------------------------------------------------------------
+ def spinl_off(self):
+ """
+ Deprecated :
+ see tux.cmd.spin_off
+ """
+ self.move(movement = SPIN_L, final_state = STOP)
+
+ #--------------------------------------------------------------------------
+ # Send a command to tux for stopping the spinning movement
+ #--------------------------------------------------------------------------
+ def spinr_off(self):
+ """
+ Deprecated :
+ see tux.cmd.spin_off
+ """
+ self.move(movement = SPIN_R, final_state = STOP)
#==============================================================================
# TUXTCPCommunicator - status - class
#==============================================================================
|
