summaryrefslogtreecommitdiffhomepage
path: root/digital
diff options
context:
space:
mode:
Diffstat (limited to 'digital')
-rw-r--r--digital/ai/tools/marcel.py6
-rw-r--r--digital/ai/tools/robospierre.py6
-rw-r--r--digital/asserv/tools/asserv/init.py14
-rw-r--r--digital/asserv/tools/inter_asserv.py16
-rw-r--r--digital/asserv/tools/step.py11
-rw-r--r--digital/asserv/tools/test_goto.py12
-rw-r--r--digital/asserv/tools/write_eeprom.py11
-rw-r--r--digital/io-hub/tools/io_hub/init.py6
-rw-r--r--digital/io/tools/dump_usdist.py7
-rw-r--r--digital/io/tools/io/init.py14
-rw-r--r--digital/io/tools/io/io.py5
-rw-r--r--digital/mimot/tools/mimot/init.py17
-rw-r--r--digital/mimot/tools/write_eeprom.py17
13 files changed, 58 insertions, 84 deletions
diff --git a/digital/ai/tools/marcel.py b/digital/ai/tools/marcel.py
index 32995326..08314ca3 100644
--- a/digital/ai/tools/marcel.py
+++ b/digital/ai/tools/marcel.py
@@ -27,11 +27,11 @@ class Robot:
mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
io_cmd = ('../../io/src/io.host')
self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host)
+ **asserv.init.host['marcel'])
self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host)
+ **mimot.init.host['marcel'])
self.io = io.Proto (PopenIO (io_cmd), proto_time,
- **io.init.host)
+ **io.init.host['marcel'])
self.robot_start_pos = {
False: (300, 2100 - 305, math.radians (-270)),
True: (3000 - 300, 2100 - 305, math.radians (-270))
diff --git a/digital/ai/tools/robospierre.py b/digital/ai/tools/robospierre.py
index 59023184..09be4bea 100644
--- a/digital/ai/tools/robospierre.py
+++ b/digital/ai/tools/robospierre.py
@@ -27,11 +27,11 @@ class Robot:
mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
io_hub_cmd = ('../../io-hub/src/robospierre/io_hub.host')
self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host)
+ **asserv.init.host['robospierre'])
self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host)
+ **mimot.init.host['robospierre'])
self.io = io_hub.Proto (PopenIO (io_hub_cmd), proto_time,
- **io_hub.init.host)
+ **io_hub.init.host['robospierre'])
self.robot_start_pos = {
False: (700, 2100 - 250, math.radians (-270)),
True: (3000 - 700, 2100 - 250, math.radians (-270))
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 29596a77..3f0afa36 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -1,5 +1,5 @@
"""Default parameters for asserv."""
-host = dict (
+host_marcel = dict (
scale = 0.0395840674352314, f = 0xdd1,
tkp = 1, tkd = 16,
ta = 0.75, tsm = 0x20, tss = 0x10,
@@ -12,7 +12,12 @@ host = dict (
E = 0x3ff, D = 0x1ff,
l = 0x1000,
)
-target = dict (
+host = {
+ 'giboulee': host_marcel,
+ 'marcel': host_marcel,
+ 'robospierre': host_marcel,
+ }
+target_marcel = dict (
scale = 0.0415178942124, f = 0xcef,
c = float (0x00ffbabf) / (1 << 24),
tkp = 1, tkd = 16,
@@ -29,3 +34,8 @@ target = dict (
l = 0x1000,
w = 0x09,
)
+target = {
+ 'giboulee': target_marcel,
+ 'marcel': target_marcel,
+ 'robospierre': target_marcel,
+ }
diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py
index f2c74a5c..82a92c32 100644
--- a/digital/asserv/tools/inter_asserv.py
+++ b/digital/asserv/tools/inter_asserv.py
@@ -26,8 +26,7 @@ import math
import asserv
import asserv.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
from inter.inter import Inter
from Tkinter import *
@@ -35,15 +34,9 @@ from Tkinter import *
class InterAsserv (Inter):
"""Inter, communicating with the asserv board."""
- def __init__ (self, argv):
+ def __init__ (self):
# Asserv.
- if argv[0] == '!':
- io = proto.popen_io.PopenIO (argv[1:])
- i = asserv.init.host
- else:
- io = serial.Serial (argv[0])
- i = asserv.init.target
- self.a = asserv.Proto (io, **i)
+ self.a = init_proto ('giboulee', asserv.Proto, asserv.init)
self.a.async = True
# Inter.
Inter.__init__ (self)
@@ -128,8 +121,7 @@ class InterAsserv (Inter):
self.a.ftw (self.backwardVar.get ())
if __name__ == '__main__':
- import sys
- app = InterAsserv (sys.argv[1:])
+ app = InterAsserv ()
try:
app.mainloop ()
finally:
diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py
index 5b5040b1..b9f798ef 100644
--- a/digital/asserv/tools/step.py
+++ b/digital/asserv/tools/step.py
@@ -1,19 +1,12 @@
-import sys
-
import Gnuplot
import asserv
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
def step (name, offset, kp, ki, kd, plots, **param):
- if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- else:
- io = serial.Serial (sys.argv[1])
p = { name + 'kp': kp, name + 'ki': ki, name + 'kd': kd}
p.update (param)
- a = asserv.Proto (io, **p)
+ a = init_proto (None, asserv.Proto, init = p)
a.stats (*plots)
a.consign (name, offset)
#a.speed (name, 16)
diff --git a/digital/asserv/tools/test_goto.py b/digital/asserv/tools/test_goto.py
index da9ee41c..2cbbb350 100644
--- a/digital/asserv/tools/test_goto.py
+++ b/digital/asserv/tools/test_goto.py
@@ -1,19 +1,11 @@
-import sys
import random
import math
import asserv
import asserv.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
-if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- init = asserv.init.host
-else:
- io = serial.Serial (sys.argv[1])
- init = asserv.init.target
-a = asserv.Proto (io, **init)
+a = init_proto (None, asserv.Proto, asserv.init)
for i in xrange (10):
x = random.randrange (2000)
y = random.randrange (1100)
diff --git a/digital/asserv/tools/write_eeprom.py b/digital/asserv/tools/write_eeprom.py
index b6b9abd9..09a727ea 100644
--- a/digital/asserv/tools/write_eeprom.py
+++ b/digital/asserv/tools/write_eeprom.py
@@ -2,15 +2,8 @@ import sys
import asserv
import asserv.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
-if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- init = asserv.init.host
-else:
- io = serial.Serial (sys.argv[1])
- init = asserv.init.target
-a = asserv.Proto (io, **init)
+a = init_proto (None, asserv.Proto, asserv.init)
a.write_eeprom ()
a.close ()
diff --git a/digital/io-hub/tools/io_hub/init.py b/digital/io-hub/tools/io_hub/init.py
index aa5aa10c..2adaa85c 100644
--- a/digital/io-hub/tools/io_hub/init.py
+++ b/digital/io-hub/tools/io_hub/init.py
@@ -1,4 +1,6 @@
"""Default parameters for io-hub."""
-host = dict (
- )
+host = {
+ 'robospierre': dict (
+ ),
+ }
target = host
diff --git a/digital/io/tools/dump_usdist.py b/digital/io/tools/dump_usdist.py
index 43e0724e..001a8cc7 100644
--- a/digital/io/tools/dump_usdist.py
+++ b/digital/io/tools/dump_usdist.py
@@ -1,11 +1,8 @@
-import sys
-
import io
import io.init
-import serial
+from utils.init_proto import init_proto
-fd = serial.Serial (sys.argv[1])
-p = io.Proto (fd, **io.init.target)
+p = init_proto ('marcel', io.Proto, io.init)
def cb (*val):
l = [ ]
for v in val:
diff --git a/digital/io/tools/io/init.py b/digital/io/tools/io/init.py
index 059ea408..ebcb1ec9 100644
--- a/digital/io/tools/io/init.py
+++ b/digital/io/tools/io/init.py
@@ -1,6 +1,12 @@
"""Default parameters for io."""
-host = dict (
- servo_pos = ((1, 255), (255, 1), (1, 255), (1, 255), (1, 255),
- (1, 255), (1, 255), (1, 255)),
- )
+host = {
+ 'aquajim': dict (
+ servo_pos = ((1, 255), (255, 1), (1, 255), (1, 255), (1, 255),
+ (1, 255), (1, 255), (1, 255)),
+ ),
+ 'marcel': dict (
+ ),
+ 'robospierre': dict (
+ ),
+ }
target = host
diff --git a/digital/io/tools/io/io.py b/digital/io/tools/io/io.py
index 375ad38d..edefbd9d 100644
--- a/digital/io/tools/io/io.py
+++ b/digital/io/tools/io/io.py
@@ -34,8 +34,9 @@ class Proto:
def send_param (self):
p = self.param
- for i, t in enumerate (p['servo_pos']):
- self.proto.send ('p', 'BBB', i, *t)
+ if ('servo_pos') in p:
+ for i, t in enumerate (p['servo_pos']):
+ self.proto.send ('p', 'BBB', i, *t)
def write_eeprom (self):
self.proto.send ('p', 'cc', 'E', 's')
diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py
index 116cebb5..682b29cb 100644
--- a/digital/mimot/tools/mimot/init.py
+++ b/digital/mimot/tools/mimot/init.py
@@ -1,14 +1,5 @@
"""Default parameters for asserv."""
-host = dict (
- a0kp = 4,
- a0a = 16, a0sm = 0x60, a0ss = 0x10,
- a0be = 256, a0bs = 0x18, a0bc = 5,
- a1kp = 4,
- a1a = 16, a1sm = 0x60, a1ss = 0x10,
- a1be = 256, a1bs = 0x18, a1bc = 5,
- E = 0x3ff, D = 0x1ff,
- )
-target = dict (
+target_marcel = dict (
a0kp = 4,
a0a = 16, a0sm = 0x60, a0ss = 0x10,
a0be = 256, a0bs = 0x18, a0bc = 5,
@@ -18,3 +9,9 @@ target = dict (
E = 0x3ff, D = 0x1ff,
w = 0x03,
)
+target = {
+ 'marcel': target_marcel,
+ 'robospierre': target_marcel,
+ }
+
+host = target
diff --git a/digital/mimot/tools/write_eeprom.py b/digital/mimot/tools/write_eeprom.py
index ab2ae315..7fe54342 100644
--- a/digital/mimot/tools/write_eeprom.py
+++ b/digital/mimot/tools/write_eeprom.py
@@ -1,16 +1,7 @@
-import sys
-
import mimot
import mimot.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
-if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- init = mimot.init.host
-else:
- io = serial.Serial (sys.argv[1])
- init = mimot.init.target
-a = mimot.Proto (io, **init)
-a.write_eeprom ()
-a.close ()
+m = init_proto (None, mimot.Proto, mimot.init)
+m.write_eeprom ()
+m.close ()