# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # Copyright (C) 2008 Nicolas Schodet # # APBTeam: # Web: http://apbteam.org/ # Email: team AT apbteam DOT org # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # # }}} import proto, time class Proto: def __init__ (self, file, time = time.time, **param): self.proto = proto.Proto (file, time, 0.1) self.async = False self.param = param self.send_param () self.proto.register ('U', 'HHHH', self.__handle_usdist) def send_param (self): p = self.param 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') time.sleep (1) self.proto.wait (lambda: True) def reset (self): self.proto.send ('z') self.proto.send ('z') def servo_pos (self, servo, pos): self.proto.send ('P', 'BB', servo, pos) def servo (self, servo, high_time): self.proto.send ('s', 'BB', servo, high_time) def pwm_set (self, value, timer): self.proto.send ('w', 'Hh', value, timer) def loader (self, command): self.proto.send ('c', 'c', command) def stats_usdist (self, cb): self.proto.send ('U', 'B', 2 * 4 * 2) self.usdist_cb = cb while True: self.proto.wait () def __handle_usdist (self, *val): l = [ ] for v in val: if v == 0xffff: l.append (None) else: l.append (v) self.usdist_cb (*l) def close (self): self.reset () self.proto.wait (lambda: True) self.proto.file.close () def fileno (self): return self.proto.fileno ()