key_ctrl.py

"""key_ctrl - key based arm controller"""
from functools import partial
import usb_arm
import pygame
from pygame.locals import *
import sys


def handle_key(arm, delay, key_map, key):
    def do_it():
        if key in key_map:
            print "Doing key ", key
            arm.move(key_map[key], delay)
    arm.safe_tell(do_it)
  
  
def make_keymap():
    """Bp - an initialised arm bitpattern.
    returns the keymap"""
    return {
        K_z: usb_arm.BaseClockWise, 
        K_x: usb_arm.BaseCtrClockWise,
        K_r: usb_arm.CloseGrips,
        K_f: usb_arm.OpenGrips,
        K_a: usb_arm.ShoulderDown,
        K_q: usb_arm.ShoulderUp,
        K_s: usb_arm.ElbowDown,
        K_w: usb_arm.ElbowUp,
        K_d: usb_arm.WristDown,
        K_e: usb_arm.WristUp}
        
        
def key_loop():
    km = make_keymap()
    try:
        arm = usb_arm.Arm()
    except AttributeError:
        print "Please make sure the arm is connected and turned on"
        sys.exit(1)
    handle = partial(handle_key, arm, 0.5, km)
    exit_key = K_ESCAPE

    while True:
        for event in pygame.event.get():
            if event.type == QUIT:
                pygame.quit()
                return
            if event.type == KEYDOWN:
                if event.key == exit_key:
                    return
                else:
                    handle(event.key)
                    
def main():
    pygame.init()
    key_loop()
    
main()