robot

robot.cfg

@@ -0,0 +1,10 @@
+[robot]
+    port: /dev/cu.usbmodem144301
+    baud: 19200
+    base:   0
+    boom:   1
+    jib:    2
+    rotate: 3
+    pan:    4
+    tilt:   5
+    hand:   6

robot.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""robot.py: class up your robot arm."""
+
+__author__ = "Kevin Matz"
+__copyright__ = "Copyright 2019, Company 235, LLC"
+__credits__ = ["Kevin Matz"]
+
+__license__ = "MIT"
+__version__ = "0.1"
+__maintainer__ = "Kevin Matz"
+__email__ = "kevin@company235.com"
+
+__status__ = "Prototype"
+
+
+import logging
+import configparser
+import serial
+import threading
+
+logger = logging.getLogger('__main__')
+
+
+class Robot:
+    def __init__(self):
+        self.serial_port = None
+        self.config = None
+        self.serial_read_thread = None
+        self.angle = []
+        self.target = []
+
+    def move(self, coords=None):
+        if coords is not None:
+            self.target = coords
+        hex = [hex(dec).lstrip("0x").rstrip("L") for dec in self.target]
+        str = '{'+','.join(hex)+'}'
+        str = str.lower()
+        try:
+            self.serial_port.write(str)
+        except serial.serialutil.SerialTimeoutExceptionn:
+            pass
+
+    def isMoving(self):
+        if len(self.angle) != len(self.target):
+            values = []
+            for i in range(len(self.angle)):
+                try:
+                    values.append(self.target[i])
+                except Exception as e:
+                    values.append(0)
+            return self.angle != values
+        return self.angle != self.target
+
+    def serial_read_handler(self, data):
+        data = data.strip()
+        if data.startswith('{') and data.endswith('}'):
+            data = data.lstrip('{').rstrip('}')
+        else:
+            return
+        data = data.split(',')
+        self.angle = [int(hex, 16) for hex in data]
+
+    def serial_read_worker(self, ser):
+        while True:
+            data = self.serial_port.readline()
+            self.serial_read_handler(data)
+
+    def start(self):
+        # Start a serial read thread, if the serial port can be opened.
+        try:
+            self.serial_port = serial.Serial(self.config.get("port", None),
+                                             self.config.get("baud", 9600),
+                                             timeout=0)
+            self.serial_read_thread = threading.Thread(
+                                                    target=serial_read_worker,
+                                                    args=(serial_port))
+            self.serial_read_thread.start()
+        except NameError:
+            logger.error("ERROR: configuration hasn't been set!")
+            raise
+        except serial.serialutil.SerialException:
+            logger.error("ERROR: Unable to start serial port.")