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--- motors-scanner-test-1 [2012/09/23 11:01]
85.218.109.130
+++ motors-scanner-test-1 [2012/10/06 18:38]
85.218.109.130
@@ Line 7: / Line 7: @@
 <code python>
+#!/usr/bin/python
+# -*- coding: utf-8 -*-
 import subprocess, glob, time, csv
 from arduino import Arduino, Servo
@@ Line 14: / Line 18: @@
 # airodump-ng is running and logging the results into a csv file
 # subprocess looks for the last edited csv file in current folder
 # 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 $HOME/rknfg/*csv | head -1", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
-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'):
@@ Line 31: / Line 35: @@
             return data
-#airodump='/home/selena/doc/synergia/sator/scanning/salzamt1109-01.csv'
+packets=int(lookup(lasted))
+print 'packets', packets
 # moving part -------------------
@@ Line 39: / Line 44: @@
 my_board=Arduino(portz)
-my_board.output([9, 11])
+my_board.output([9, 10])
-linearone=my_board.attachServo(9)
+linear_one=my_board.attachServo(9)
-lineartwo=my_board.attachServo(11)
+linear_two=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)
-packets=int(lookup(lasted))
+# |   linear one          |
-print 'packets', packets
+# 72 - - - - - - - - - - 139
-time.sleep(10)
+# |   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:[(83,92)],9:[(84,92)],10:[(86,94)],11:[(88,95)],12:[(90,96)],13:[(92,97)],14:[(93,98)],15:[(95,99)],16:[(98,100)],17:[(100,101)],18:[(102,102)],19:[(103,103)],20:[(104,104)],21:[(106,105)],22:[(107,106)],23:[(109,107)],24:[(110,108)],25:[(114,109)],26:[(117,110)],27:[(120,111)],28:[(122,112)],29:[(124,113)],30:[(125,114)],31:[(128,115)],32:[(129,116)],33:[(130,117)],34:[(132,118)],35:[(135,119)],36:[(137,120)],37:[(139,121)]}
+# the main loop -----------------
+# lookup function checks for difference in the number of packets
+# it sends the motors to a new position accordingly
+max_pos=len(positions)-1
+key_pos=max_pos
+# put the motors in the minimum position
+linear_one.write(positions[key_pos][0][0])
+linear_two.write(positions[key_pos][0][1])
+time.sleep(5)
 while True:
-    newPackets=int(lookup(airodump))
+    newPackets=int(lookup(lasted))
     packetsDiff=newPackets-packets
     print 'packetsDiff', packetsDiff
-    # decide whether to stretch or shrink:
+    # decide whether to stretch or shrink (when shrinking the height of the space increases):
-    if packetsDiff>10:
+    # case 1: motors will shrink for one position each; the initial key_pos value needs to be bigger than 0
-        newPosition=position+(packetsDiff/5)
+    if packetsDiff>=8 and packetsDiff<50 and key_pos>0:
-        print 'should stretch', newPosition
+        new_key=key_pos-1
-        if newPosition <=140:
+        print 'case 1: new_key=', new_key, 'position:', positions[new_key]
-            print 'and will do'
+        #print 'linear1 will shrink',positions[new_key][0][0]
-            linearone.write(newPosition), lineartwo.write(newPosition)
+        #print 'linear2 will shrink',positions[new_key][0][1]
+        #print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos)
+        linear_one.write(positions[new_key][0][0])
+        time.sleep(0.3)
+        linear_two.write(positions[new_key][0][1])
+        time.sleep(0.3)
+        key_pos=new_key #update position
+    # case 2: motors will shrink for 5 positions; the initial value must be bigger than 5
+    elif packetsDiff>=50 and key_pos>0:
+        new_key=key_pos-5
+        if new_key<=0:
+            print 'case 2: but cannot shrink more'
+            new_key=1 #reset position
+            key_pos=new_key #update position
         else:
-            print 'already at maximum'
+            print 'case 2: new_key=', new_key, 'position:', positions[new_key]
-            # reset
+            #print 'linear1 will shrink',positions[new_key][0][0]
-            position=120
+            #print 'linear2 will shrink',positions[new_key][0][1]
-    elif packetsDiff<=0:
+            linear_one.write(positions[new_key][0][0])
-        newPosition=position-10
+            time.sleep(0.3)
-        print 'shrinking', newPosition
+            linear_two.write(positions[new_key][0][1])
-        if newPosition >= 40:
+            time.sleep(0.3)
-            print 'will do'
+            key_pos=new_key #update position
-            linearone.write(newPosition), lineartwo.write(newPosition)
+    # case 3: motors will stretch for two positions; the initial value must not be bigger than max_pos
+    elif packetsDiff<=0 and key_pos<max_pos:
+        new_key=key_pos+2
+        if new_key>=max_pos:
+            print 'case 3: but cannot stretch more'
+            new_key=max_pos
+            key_pos=new_key #update position
         else:
-            print 'already at minumum'
+            print 'case 3: new_key=', new_key, 'position:', positions[new_key]
-            position=50
+            #print 'linear1 will stretch',positions[new_key][0][0]
-    time.sleep(5)
+            #print 'linear2 will stretch',positions[new_key][0][1]
-    packets=newPackets #resets the packets
+            #print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos)
-    position=newPosition #resets the position (so the next time it will compare with the updated value)
+            linear_one.write(positions[new_key][0][0])
+            time.sleep(0.3)
+            linear_two.write(positions[new_key][0][1])
+            time.sleep(0.3)
+            key_pos=new_key #update position
+    else:
+        print "else: packetDiff is too little", packetsDiff
+        new_key=key_pos
+        #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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