Use working refactored Python code!

App/JS/Resources/CurrentEmuBotCode2/basic_classes.py

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+""" Basic classes to be used by more advanced classes in wheel_arm_class.py """
+
+import threading
+import time
+import connect
+
+class Joint(threading.Thread):
+    """ A Joint class representing a moving node on parts of the emubot """
+
+    def __init__(self, identity, position):
+        """ __init__(identity, position): parameters represent identification and position """
+        threading.Thread.__init__(self)
+        self.direction = "neutral"
+        self.id = identity
+        self.position = position
+        self.move_joint(self.position, 900)
+
+    def run(self):
+        """ Step through a sequence of moves """
+        while self.direction != "":
+            if self.direction == "decrease":
+                if self.position > 200:
+                    self.position -= 15
+            elif self.direction == "increase":
+                if self.position < 800:
+                    self.position += 15
+            if self.direction != "neutral":
+                self.move_joint(self.position, 900)
+            time.sleep(0.1)
+
+    def move_joint(self, position, speed):
+        """ Move the joint """
+        output = ''
+
+        if self.id < 10:
+            output += '0' + str(self.id)
+        else:
+            output += str(self.id)
+
+        for _ in range(4 - len(str(position))):
+            output += '0'
+
+        output += str(position)
+
+        for _ in range(4 - len(str(speed))):
+            output += '0'
+
+        output += str(position)
+
+        output += '\n'
+        connect.SOCKET.sendall(bytes(output, 'utf-8'))
+
+class Wheel(object):
+    """ A Wheel class representing a wheel of the emubot """
+
+    def __init__(self, identity):
+        """ Wheel.__init__(ID): parameters - the ID of the wheel """
+        self.id = str(identity)
+        self.direction = "none"
+        self.speed = 0
+
+    def move_wheel(self, speed):
+        """ Move the wheel """
+        self.speed = speed
+        output = '0' + self.id
+
+        if self.speed < 11 and self.speed > -11:
+            self.speed = 0
+        elif self.speed < 0:
+            output += '-'
+            self.speed = self.speed*-1
+
+        for _ in range(4 - len(str(self.speed))):
+            output += '0'
+
+        output += str(self.speed)
+        connect.SOCKET.sendall(bytes(output+"\n", 'utf-8'))
+
+class Switch(object):
+    """ A Switch class representing a switch on the emubot """
+
+    def __init__(self):
+        """ Switch.__init__(): initialise variables """
+        self.on = True
+
+    def change_status():
+        """ Change the status of the switch """
+        if self.on:
+            connect.SOCKET.sendall(bytes("OFF\n", "utf-8"))
+            self.on = False
+        else:
+            connect.SOCKET.sendall(bytes("ON\n", "utf-8"))
+            self.on = True

App/JS/Resources/CurrentEmuBotCode2/client.py

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+""" The movement client for the emubot """
+
+import basic_classes
+import constants
+import controller
+import wheel_arm_class
+
+LEFT_MOVEMENT = 0
+RIGHT_MOVEMENT = 0
+FORWARDS_MOVEMENT = 0
+
+LOCAL_SWITCH_ON = True
+BACKWARDS_L = 1
+BACKWARDS_R = 1
+
+ARM = wheel_arm_class.Arm([5, 6, 7])
+WHEEL_L1 = basic_classes.Wheel(1)
+WHEEL_R2 = basic_classes.Wheel(2)
+WHEEL_L3 = basic_classes.Wheel(3)
+WHEEL_R4 = basic_classes.Wheel(4)
+
+def move_left_wheels(speed):
+    """ Move the wheels on the left side of the emubot """
+    if speed == 0:
+        WHEEL_L1.move_wheel(0)
+        WHEEL_L3.move_wheel(0)
+    else:
+        WHEEL_L1.move_wheel(speed)
+        WHEEL_L3.move_wheel(speed)
+
+def move_right_wheels(speed):
+    """ Move the wheels on the right side of the emubot """
+    if speed == 0:
+        WHEEL_R2.move_wheel(0)
+        WHEEL_R4.move_wheel(0)
+    else:
+        WHEEL_R2.move_wheel(speed)
+        WHEEL_R4.move_wheel(speed)
+
+print("Event loop starting...")
+
+for event in controller.gamepad.read_loop():
+    try:
+        event_code = event.code
+        event_value = event.value
+
+        if event_code != 0:
+            if event_code == constants.LEFT_TRG:
+                if LEFT_MOVEMENT == 3 or event_value <= 0:
+                    if event_value > 0:
+                        move_left_wheels(event_value * 4 * BACKWARDS_L)
+                    else:
+                        move_left_wheels(0)
+                    LEFT_MOVEMENT = 1
+                else:
+                    LEFT_MOVEMENT = LEFT_MOVEMENT + 1
+
+            elif event_code == constants.RIGHT_TRG:
+                if RIGHT_MOVEMENT == 3 or event_value <= 0:
+                    if event_value > 0:
+                        move_right_wheels(-(event_value * 4 * BACKWARDS_R))
+                    else:
+                        move_right_wheels(0)
+                    RIGHT_MOVEMENT = 1
+                else:
+                    RIGHT_MOVEMENT = RIGHT_MOVEMENT + 1
+
+            elif event_code == constants.LB:
+                if event_value == 1:
+                    if BACKWARDS_L > 0:
+                        BACKWARDS_L = -1
+                    else:
+                        BACKWARDS_L = 1
+
+            elif event_code == constants.RB:
+                if event_value == 1:
+                    if BACKWARDS_R > 0:
+                        BACKWARDS_R = -1
+                    else:
+                        BACKWARDS_R = 1
+
+            elif event_code == constants.LHORIZ:
+                if FORWARDS_MOVEMENT == 3 or event_value <= 0:
+                    if event_value > 0:
+                        move_left_wheels(event_value / 40)
+                        move_right_wheels(event_value / 40)
+                    elif event_value < 0:
+                        move_left_wheels(event_value / 40)
+                        move_right_wheels(event_value / 40)
+                    else:
+                        move_left_wheels(0)
+                        move_right_wheels(0)
+                    FORWARDS_MOVEMENT = 1
+
+                else:
+                    FORWARDS_MOVEMENT = FORWARDS_MOVEMENT + 1
+
+            elif event_code == constants.LVERT:
+                move_left_wheels(-(event_value / 40))
+                move_right_wheels((event_value / 40))
+
+            elif event_code == constants.D_PAD_HORIZONTAL:
+                if event_value == 1:
+                    ARM.move_pan(direction="increase")
+                elif event_value == -1:
+                    ARM.move_pan(direction="decrease")
+                elif event_value == 0:
+                    ARM.move_pan(direction="neutral")
+
+            elif event_code == constants.D_PAD_VERTICAL:
+                if event_value == -1:
+                    ARM.move_tilt(direction="increase")
+                elif event_value == 1:
+                    ARM.move_tilt(direction="decrease")
+                elif event_value == 0:
+                    ARM.move_tilt(direction="neutral")
+
+            elif event_code == constants.Y:
+                if event_value == 1:
+                    ARM.move_shoulder(direction="increase")
+                elif event_value == 0:
+                    ARM.move_shoulder(direction="neutral")
+
+            elif event_code == constants.A:
+                if event_value == 1:
+                    ARM.move_shoulder(direction="decrease")
+                elif event_value == 0:
+                    ARM.move_shoulder(direction="neutral")
+
+            elif event_code == constants.X:
+                ARM.move_arm_set_position(shoulder_pos=512, tilt_pos=200, pan_pos=512)
+
+            elif event_code == constants.B:
+                if LOCAL_SWITCH_ON and event_value != 0:
+                    LOCAL_SWITCH_ON = False
+                    print("OFF")
+
+                elif event_value != 0:
+                    LOCAL_SWITCH_ON = True
+                    print("ON")
+
+            elif event_code == constants.START:
+                # Reset all servos to original positions
+                ARM.reset()
+                WHEEL_L1.move_wheel(0)
+                WHEEL_L3.move_wheel(0)
+                WHEEL_R2.move_wheel(0)
+                WHEEL_R4.move_wheel(0)
+
+            elif event_code == constants.BACK:
+                WHEEL_L1.move_wheel(0)
+                WHEEL_L3.move_wheel(0)
+                WHEEL_R2.move_wheel(0)
+                WHEEL_R4.move_wheel(0)
+
+            else:
+                print("Unidentified Event:", event)
+
+    except BrokenPipeError as error:
+        print(error)

App/JS/Resources/CurrentEmuBotCode2/connect.py

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+""" Establishes the connection between the input device and the emubot """
+
+print("connect setup")
+import socket
+
+HOST, PORT = "192.168.100.1", 9999 #"169.254.44.240", 9999
+SOCKET = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+print("trying to establish a connection")
+
+try:
+    SOCKET.connect((HOST, PORT))
+    print("connect ready")
+except:
+    print("""
+          CONNECTION FAILED.")
+          have you run the code on the raspberry pi?
+          P.S. dont break the pi please
+          """)
+
+print(SOCKET)

App/JS/Resources/CurrentEmuBotCode2/constants.py

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+""" Constants module for this directory """
+
+# Event Constants
+LEFT_TRG = 2
+RIGHT_TRG = 5
+RB = 311
+LB = 310
+LCLICK = 317
+RCLICK = 318
+RVERT = 4
+RHORIZ = 3
+LVERT = 1
+LHORIZ = 0
+START = 315
+BACK = 314
+A = 304
+B = 305
+Y = 308
+X = 307
+D_PAD_VERTICAL = 17
+D_PAD_HORIZONTAL = 16
+
+# Shoulder Direction
+INCREASE = 1
+DECREASE = 2
+NEUTRAL = 3
+NOTHING = 0
+
+# Switches
+SWITCHON = 1
+SWITCHOFF = 0
+
+# Arm Movement Divisor
+MOVEMENT_SCALING = 4000
+
+# Wheel and Arm Identifcations
+HAND = 7
+ARM = 6
+SHOULDER = 5
+
+# From the back view of the robot:
+FRONT_LEFT_WHEEL = 1
+FRONT_RIGHT_WHEEL = 2
+BACK_LEFT_WHEEL = 3
+BACK_RIGHT_WHEEL = 4

App/JS/Resources/CurrentEmuBotCode2/controller.py

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+""" Initialises the input source by which the emubot is controlled """
+
+import evdev
+
+devices = [evdev.InputDevice(input_source) for input_source in evdev.list_devices()]
+
+controllers = {"Logitech Gamepad F310",
+               "Logitech Gamepad F710",
+               "Microsoft X-Box 360 pad",
+               "Logitech Logitech Cordless RumblePad 2",
+               "Logitech Logitech Dual Action"}
+
+gamepad = None
+for i in devices:
+    if i.name in controllers:
+        gamepad = i
+        break
+
+if gamepad is None:
+    raise TypeError("Variable 'gamepad' is None")
+
+print("Gamepad is:", gamepad)

App/JS/Resources/CurrentEmuBotCode2/switch.py

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+""" A module defining a function to change the state of SOCKET """
+
+import connect
+import constants
+
+def switch(state):
+    """ Invert the state of SOCKET """
+    if state == constants.SWITCHON:
+        connect.SOCKET.sendall(bytes("OFF\n", "utf-8"))
+        return constants.SWITCHOFF
+
+    connect.SOCKET.sendall(bytes("ON\n", "utf-8"))
+    return constants.SWITCHON