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--- motors-scanner-test-1 [2012/09/23 11:01]
85.218.109.130
+++ motors-scanner-test-1 [2012/09/24 22:01]
81.10.185.142
@@ Line 16: / Line 16: @@
 # this file is parsed by the csv module to find the number of data packets that have passed through the network since the last check
 listlasted=subprocess.Popen("ls -ct1 *csv | head -1", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
 lasted=listlasted.communicate()[0].strip()
+print lasted
 # reading the scan log from a csv file
 def lookup(dump):
-    scan=open(dump)
+    scan=open(dump, "rU")
     next(scan)
-    scanDict=csv.DictReader(scan, delimiter=',')
+    scanDict=csv.DictReader((line.replace('\0','') for line in scan), delimiter=',')
     for adict in scanDict:
          if adict.has_key(' # IV'):
             data=adict.get(' # IV')
             return data
-#airodump='/home/selena/doc/synergia/sator/scanning/salzamt1109-01.csv'
+packets=int(lookup(lasted))
+print 'packets', packets
 # moving part -------------------
 portz=glob.glob("/dev/ttyUSB*")[0]
 #print portz
 my_board=Arduino(portz)
-my_board.output([9, 11])
+my_board.output([9, 10])
 linearone=my_board.attachServo(9)
-lineartwo=my_board.attachServo(11)
+lineartwo=my_board.attachServo(10)
-position=40
+# !!!! motors are not in sync!!!!
-linearone.write(position), lineartwo.write(position)
+# extreme positions of the motor one and two:
-time.sleep(1)
+linearone_max = 139
+lineartwo_max = 121
+linearone_min = 72
+lineartwo_min = 87
+# |   linear one          |
+# 72 - - - - - - - - - - 139
+# |   linear two          |
+# 87 - - - - - - - - - - 121
+# thus a dictionary of compatible values tupples is used to make sure the two motors are always in the same position
+positions = {0:[(72,87)],1:[(73,88)],2:[(74,88)],3:[(75,89)],4:[(76,90)],5:[(77,90)],6:[(78,91)],7:[(82,92)],8:[(88,95)],9:[(93,98)],10:[(100,101)],11:[(110,108)],12:[(114,109)],13:[(120,111)],14:[(124,113)],15:[(125,114)],16:[(128,115)],17:[(129,116)],18:[(130,117)],19:[(132,118)],20:[(135,119)],21:[(137,120)],22:[(139,121)]}
+# put the motors in the minimum position
+linear_one.write(positions[0][0][0])
+linear_two.write(positions[0][0][1])
-packets=int(lookup(lasted))
-print 'packets', packets
 time.sleep(10)
+# the main loop -----------------
+# lookup function checks for difference in the number of packets
+# it sends the motors to a new position accordingly
+key_pos=0
+max_pos=len(positions)-1
 while True:
-    newPackets=int(lookup(airodump))
+    newPackets=int(lookup(lasted))
     packetsDiff=newPackets-packets
     print 'packetsDiff', packetsDiff
     # decide whether to stretch or shrink:
-    if packetsDiff>10:
+    if packetsDiff>=10 and packetsDiff<50 and key_pos<max_pos:
-        newPosition=position+(packetsDiff/5)
+        new_key=key_pos+2
-        print 'should stretch', newPosition
+        print 'linear1 should stretch',positions[new_key][0][0]
-        if newPosition <=140:
+        print 'linear2 should stretch',positions[new_key][0][1]
-            print 'and will do'
+        print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos)
-            linearone.write(newPosition), lineartwo.write(newPosition)
+        linearone.write(positions[new_key][0][0])
+        time.sleep(0.3)
+        lineartwo.write(positions[new_key][0][1])
+        time.sleep(0.3)
+        key_pos=new_key #update position
+    elif packetsDiff>50 and key_pos<max_pos:
+        new_key=key_pos+5
+        print 'linear1 should stretch',positions[new_key][0][0]
+        print 'linear2 should stretch',positions[new_key][0][1]
+        linearone.write(positions[new_key][0][0])
+        time.sleep(0.3)
+        lineartwo.write(positions[new_key][0][1])
+        time.sleep(0.3)
+        if key_pos>=max_pos:
+            key_pos=max_pos #reset position
         else:
-            print 'already at maximum'
+            key_pos=new_key #update position
-            # reset
+    elif packetsDiff<=0 and key_pos>0:
-            position=120
+        new_key=key_pos-2
-    elif packetsDiff<=0:
+        print 'linear1 should shrink',positions[new_key][0][0]
-        newPosition=position-10
+        print 'linear2 should shrink',positions[new_key][0][1]
-        print 'shrinking', newPosition
+        print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos)
-        if newPosition >= 40:
+        linearone.write(positions[new_key][0][0])
-            print 'will do'
+        time.sleep(0.3)
-            linearone.write(newPosition), lineartwo.write(newPosition)
+        lineartwo.write(positions[new_key][0][1])
-        else:
+        time.sleep(0.3)
-            print 'already at minumum'
+        key_pos=new_key #update position
-            position=50
+    else:
-    time.sleep(5)
+        print "else: packetDiff is too little", packetsDiff
-    packets=newPackets #resets the packets
+        new_key=key_pos
-    position=newPosition #resets the position (so the next time it will compare with the updated value)
+        print 'nothing changed, will stay in the position', positions[new_key]
+    time.sleep(3)
+    packets=newPackets #updates the packets
 </code>
+TODO
+  * positions resolution
+  * main loop flow: first add or first decide on the limit
+  * exceptions, restart....

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