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Motion.py
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# -*- coding: utf-8 -*-
# Motion code
import platform
import argparse
import cv2
import sys
import serial
import time
from threading import Thread, Lock
# -----------------------------------------------
class Motion:
def __init__(self, sleep_time=0):
self.serial_use = 1
self.serial_port = None
self.Read_RX = 0
self.receiving_exit = 1
self.threading_Time = 0.01
self.sleep_time = sleep_time
self.lock = Lock()
#self.lock = False
self.distance = 0
BPS = 4800 # 4800,9600,14400, 19200,28800, 57600, 115200
# ---------local Serial Port : ttyS0 --------
# ---------USB Serial Port : ttyAMA0 --------
self.serial_port = serial.Serial('/dev/ttyS0', BPS, timeout=0.01)
self.serial_port.flush() # serial cls
self.serial_t = Thread(target=self.Receiving, args=(self.serial_port,))
self.serial_t.daemon = True
self.serial_t.start()
time.sleep(0.1)
# DELAY DECORATOR
def sleep(self, func):
def decorated():
func()
time.sleep(self.sleep_time)
return decorated
def TX_data(self, one_byte):
self.serial_port.write(serial.to_bytes([one_byte])) # python3
time.sleep(0.02)
# try:
# self.lock.acquire()
# self.serial_port.write(serial.to_bytes([one_byte])) # python3
# finally:
# self.lock.release()
# time.sleep(0.02)
def RX_data(self):
print('rxdata')
time.sleep(0.02)
if self.serial_port.inWaiting() > 0:
result = self.serial_port.read(1)
RX = ord(result)
return RX
else:
return 0
def Receiving(self, ser):
self.receiving_exit = 1
while True:
if self.receiving_exit == 0:
break
time.sleep(self.threading_Time)
time.sleep(0.08)
while ser.inWaiting() > 0:
time.sleep(0.5)
result = ser.read(1)
RX = ord(result)
# ----- remocon 16 Code Exit ------
if RX == 16:
self.receiving_exit = 0
break
elif RX == 38:
try:
self.lock.release()
except:
continue
elif RX != 200:
self.distance = RX
############################################################
# 기본자세 (99)
def basic(self):
self.TX_data(99)
time.sleep(1.5)
# 걷기 (101~120)
def walk(self, dir, dist=0, loop=1):
""" parameter :
dir : {'JFORWARD', 'JBACKWARD', FORWARD, BACKWARD}
"""
# Jforward = 전진종종걸음 Jbackward = 후진종종걸음
# 2Jforward = 2센치 종종걸음
dir_list = {'JFORWARD': 100, "JBACKWARD": 101, "FORWARD":102, "BACKWARD": 103,
"FORWARD10": 104, "FORWARD12": 107, "FORWARD13":149, "FORWARD14": 108, "FORWARD15": 109,
'2JFORWARD': 105, "2JBACKWARD": 106, "FORWARD2": 118, "FORWARD3": 119, "FORWARD4": 190, "FORWARD5":165 ,"FORWARD6": 123}
print("Motion.py walk funct")
print(dir)
if (dir == "FORWARD") or (dir == "JFORWARD") or (dir == "FORWARD4") or (dir == "FORWARD3") or (dir == "FORWARD2") or (dir == "FORWARD5") or (dir == "FORWARD6"): # forward6 일단은 그리디에서 뺐는데 나중에 시간 부족할 거 같으면 다시 넣기
if dist == 0 :
self.TX_data(dir_list[dir])
time.sleep(1)
while dist > 0:
if dist >= 46:
self.TX_data(dir_list["FORWARD6"])
time.sleep(11)
dist -= 46
elif dist >= 36:
self.TX_data(dir_list["FORWARD5"])
time.sleep(10)
dist -= 36
elif dist >= 30:
self.TX_data(dir_list["FORWARD4"])
time.sleep(8.5)
dist -= 30
elif dist >= 22:
self.TX_data(dir_list["FORWARD3"])
time.sleep(7.5)
dist -= 22
elif dist >= 15:
self.TX_data(dir_list["FORWARD2"])
time.sleep(6.5)
dist -= 15
elif dist >= 8:
self.TX_data(dir_list["FORWARD"])
time.sleep(4)
dist -= 8
elif 3 <= dist < 8:
self.TX_data(dir_list["JFORWARD"])
time.sleep(4)
dist -= 4
elif 3 > dist:
print("FORWARD too small to WALK further.", dist)
break
elif (dir == "BACKWARD") or (dir == "JBACKWARD"):
if dist == 0 :
self.TX_data(dir_list[dir])
time.sleep(1)
while dist < 0:
if dist <= -8:
print("BACKWARD", dir, " by a degrees.", dist)
self.TX_data(dir_list["BACKWARD"])
time.sleep(6)
dist += 8
elif -8 < dist <= -3:
print("Rotating", dir, " by a degrees.", dist)
self.TX_data(dir_list["JBACKWARD"])
time.sleep(4)
dist += 4
elif dist > -3:
print("Angle too small to rotate further.", dist)
break
elif dir == "2JFORWARD":
self.TX_data(dir_list["2JFORWARD"])
time.sleep(1)
dist -= 1
elif dir == "2JBACKWARD":
print("Rotating", dir, " by a degrees.", dist)
self.TX_data(dir_list["2JBACKWARD"])
time.sleep(1)
dist += 2
# elif dir == "FORWARD6":
# self.TX_data(dir_list["FORWARD6"])
# time.sleep(10)
# dist -= 48
# elif dir == "FORWARD3-2":
# self.TX_data(dir_list["FORWARD3"])
# time.sleep(7)
else:
print("else walk")
self.TX_data(dir_list[dir])
time.sleep(3)
def arms_off(self):
self.TX_data(181)
time.sleep(1)
# 머리 각도 (121~140)
def head(self, dir, angle=0):
dir_list = {
'DOWN': { 3: 124, 6: 125, 9: 126, 30: 127, 45: 141, 60:150 },
'UP' : { 3: 129, 6: 130, 9: 131, 18: 33, 30: 132, 45: 142 },
'LEFT': { 3: 134, 6: 135, 30: 136, 90:164 },
'RIGHT': { 3: 138, 6: 139, 30: 140, 90:144 },
'DEFAULT': { 0:120, 1: 121, 2: 122, 63: 143 }
}
self.TX_data(dir_list[dir][angle])
time.sleep(0.2)
# 돌기 (141~160)
def turn(self, dir, angle=0, loop=1, sleep=1, arm=False):
""" parameter :
dir : {LEFT, RIGHT}
"""
dir_list = {
"LEFT": {90: 186, 60: 160, 45: 159, 20: 158, 15: 188, 10: 157, 5: 156},
"RIGHT": {90: 187, 60: 155, 45: 154, 20: 153, 15: 189, 10: 152, 5: 151}
}
while angle > 0:
angles = list(dir_list[dir].keys())
angles.sort(reverse=True)
for a in angles:
if angle >= a:
print("Rotating", dir, " by a degrees.", angle)
self.TX_data(dir_list[dir][a])
time.sleep(sleep)
angle -= a
break
if angle<5 and angle>2.5:
print("Rotating", dir, " by a degrees.", angle)
self.TX_data(dir_list[dir][a])
time.sleep(sleep)
angle -= 5
if angle<2.5:
print("Angle too small to rotate further.", angle)
break
# 옆으로 이동 (161~170)
def walk_side(self, dir):
dir_list = {"LEFT10": 113, "RIGHT10": 112,"LEFT20": 115, "RIGHT20": 114, "LEFT70": 117, "RIGHT70": 116,
"RIGHT20cm": 163,"LEFT120cm": 128, "RIGHT120cm": 137}
self.TX_data(dir_list[dir])
if dir == "RIGHT20cm":
time.sleep(7)
else:
time.sleep(1)
#퍼팅 위치에 서기
def pose(self, dir, TB=False):
if not TB:
if dir=="RIGHT":
self.TX_data(111)
time.sleep(9.5)
elif dir=="LEFT":
self.TX_data(110)
time.sleep(9.5)
else:
self.TX_data(110)
time.sleep(9.5)
else: # TB= True
if dir=="RIGHT":
self.TX_data(148)
time.sleep(9.5)
elif dir=="LEFT":
self.TX_data(147)
time.sleep(9.5)
else:
self.TX_data(147)
time.sleep(9.5)
def putting(self, dir, power, sleep=1):
print("Motion putting")
# power:1,2,3,4 // dir: LEFT/RIGHT
dir_list = {
"LEFT": {1: 175, 2: 176, 3: 177, 4: 178, 5:179},
"RIGHT": {1: 170, 2: 171, 3: 172, 4: 173, 5:174},
"PAR4": { 1:161, 2:162 }
}
self.TX_data(dir_list[dir][power])
time.sleep(sleep)
def ceremony(self):
self.TX_data(180)
time.sleep(2)
def Rarm(self, dir): #오른쪽 팔
dir_list = {'DOWN':145 ,'RESET':146}
self.TX_data(dir_list[dir])
time.sleep(2)
def holecup_turn(self, dir, angle):
dir_list = {'LEFT':{5:166, 10:167, 20 : 182, 45:184}, 'RIGHT':{5:168, 10:169, 20:183, 45:185}}
self.TX_data(dir_list[dir][angle])
time.sleep(1)
############################################################
if __name__ == '__main__':
motion = Motion()
motion.head("DEFAULT",1)
time.sleep(1)
motion.head("DEFAULT",2)
time.sleep(1)