-

Author: previ

coderbot.cfg

@@ -1 +1 @@
-{"move_tr_speed": "75", "move_fw_elapse": "1.5", "move_motor_mode": "dc", "show_page_program": "true", "load_at_start": "", "move_tr_elapse": "1", "sound_start": "$startup.mp3", "sound_stop": "$shutdown.mp3", "camera_exposure_mode": "auto", "prog_video_rec": "true", "prog_level": "basic_move", "prog_scrollbars": "true", "ctrl_fw_speed": "100", "move_fw_speed": "100", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "prog_maxblocks": "5", "ctrl_hud_image": "coderbot_hud_2.png", "button_func": "none", "wifi_mode": "ap", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "show_page_control": "true", "ctrl_tr_speed": "80"}
+{"move_tr_speed": "75", "move_fw_elapse": "20", "show_page_program": "true", "load_at_start": "", "move_tr_elapse": "90", "sound_start": "$startup.mp3", "sound_stop": "$shutdown.mp3", "camera_exposure_mode": "auto", "prog_move_motion": "yes", "prog_video_rec": "true", "show_control_move_commands": "true", "prog_level": "basic", "prog_scrollbars": "true", "ctrl_fw_speed": "100", "move_fw_speed": "100", "show_page_control": "true", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "prog_maxblocks": "5", "ctrl_hud_image": "coderbot_hud_2.png", "button_func": "none", "move_motor_mode": "servo", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "20", "move_power_angle_3": "20", "ctrl_tr_speed": "80", "move_power_angle_1": "20"}

motion.py

@@ -7,6 +7,7 @@
 
 from coderbot import CoderBot
 from camera import Camera
+from config import Config
 
 lk_params = dict( winSize  = (15, 15),
                   maxLevel = 2,
@@ -17,6 +18,7 @@
                        minDistance = 7,
                        blockSize = 7 )
 
+
 PI_CAM_FOV_H_DEG = 53.0
 PI_CAM_FOV_V_CM = 100.0
 IMAGE_WIDTH = 160.0
@@ -38,6 +40,8 @@ def __init__(self):
         self.target_dist = 0.0
         self.delta_angle = 0.0
         self.target_angle = 0.0
+        cfg = Config.get()
+        self.power_angles = [[15, (int(cfg.get("move_power_angle_1")), -1)], [4, (int(cfg.get("move_power_angle_2")), 0.05)], [1, (int(cfg.get("move_power_angle_3")), 0.02)], [0, (0, 0)]]
 
     _motion = None
 
@@ -80,10 +84,6 @@ def loop_move(self):
             self.frame_idx += 1
             self.prev_gray = self.frame_gray
 
-            ch = 0xFF & cv2.waitKey(1)
-            if ch == 27:
-                self.bot.stop()
-                done = True
 
     def loop_turn(self):
         done = False
@@ -104,11 +104,7 @@ def loop_turn(self):
             self.frame_idx += 1
             self.prev_gray = self.frame_gray
 
-            ch = 0xFF & cv2.waitKey(1)
-            if ch == 27:
-                self.bot.stop()
-                done = True
-
+        self.bot.stop()
 
     def find_keypoints(self, image_gray, tracks):
         #print "find_keypoints"	
@@ -192,13 +188,12 @@ def calc_motion(self):
         return self.delta_angle, self.delta_dist
 
     def bot_turn(self, target_angle, delta_angle):
-        power_angles = [[15, (40, -1)], [4, (80, 0.05)], [1, (80,0.02)], [0, (0, 0)]]
         done = False
         sign = (target_angle - delta_angle) / abs(target_angle - delta_angle)
-        logging.info( "abs delta: " + abs(target_angle - delta_angle) + " sign delta: " + sign )
-        for p_a in power_angles:
+        logging.info( "abs delta: " + str(abs(target_angle - delta_angle)) + " sign delta: " + str(sign) )
+        for p_a in self.power_angles:
            if abs(target_angle - delta_angle) > p_a[0]:
-               print "pow: ", p_a[1][0], " duration: ", p_a[1][1]
+               #print "pow: ", p_a[1][0], " duration: ", p_a[1][1]
                self.bot.motor_control(sign * p_a[1][0], -1 * sign * p_a[1][0], p_a[1][1])
                done = p_a[1][0] == 0 #stopped
                break
@@ -207,9 +202,9 @@ def bot_turn(self, target_angle, delta_angle):
 
     def bot_move(self, target_dist, delta_dist, delta_angle):
         base_power = 100 * (target_dist/abs(target_dist))
-        logging.info("base power" + base_power)
+        logging.info("base power" + str(base_power))
         self.delta_power += (delta_angle * 0.01)
-        logging.info( "delta power: " + self.delta_power)
+        logging.info( "delta power: " + str(self.delta_power))
         if abs(delta_dist) < abs(target_dist):
             self.bot.motor_control(min(max(base_power-self.delta_power,-100),100), min(max(base_power+self.delta_power,-100),100), -1)
         else:

templates/config.html

@@ -102,6 +102,12 @@ <h1>CoderBot</h1>
     <div id="t_movement" class="ui-body-d ui-content">
      <label for="i_move_motor_mode">{% trans %}Motor control mode{% endtrans %}</label>
      <input type="text" id="i_move_motor_mode" name="move_motor_mode" value="{{config.move_motor_mode}}">
+     <label for="i_move_power_angle_1">{% trans %}Power (target angle -15){% endtrans %}</label>
+     <input type="text" id="i_move_power_angle_1" name="move_power_angle_1" value="{{config.move_power_angle_1}}"> 
+     <label for="i_move_power_angle_2">{% trans %}Power (target angle -4){% endtrans %}</label>
+     <input type="text" id="i_move_power_angle_2" name="move_power_angle_2" value="{{config.move_power_angle_2}}">
+     <label for="i_move_power_angle_3">{% trans %}Power (target angle -1){% endtrans %}</label>
+     <input type="text" id="i_move_power_angle_3" name="move_power_angle_3" value="{{config.move_power_angle_3}}">
     </div>
     <div id="t_start" class="ui-body-d ui-content">
      <label for="i_load_at_start">{% trans %}Load at start{% endtrans %}</label>