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motors-scanner-test-1
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motors-scanner-test-1 [2012/10/06 16:23] 85.218.109.130 |
motors-scanner-test-1 [2012/10/06 18:38] 85.218.109.130 |
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| # 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 | # 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) | + | listlasted=subprocess.Popen("ls -ct1 $HOME/rknfg/*csv | head -1", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) |
| lasted=listlasted.communicate()[0].strip() | lasted=listlasted.communicate()[0].strip() | ||
| print lasted | print lasted | ||
| Line 34: | Line 34: | ||
| data=adict.get(' # IV') | data=adict.get(' # IV') | ||
| return data | return data | ||
| - | + | ||
| packets=int(lookup(lasted)) | packets=int(lookup(lasted)) | ||
| print 'packets', packets | print 'packets', packets | ||
| # moving part ------------------- | # moving part ------------------- | ||
| - | + | ||
| portz=glob.glob("/dev/ttyUSB*")[0] | portz=glob.glob("/dev/ttyUSB*")[0] | ||
| #print portz | #print portz | ||
| - | + | ||
| my_board=Arduino(portz) | my_board=Arduino(portz) | ||
| my_board.output([9, 10]) | my_board.output([9, 10]) | ||
| Line 58: | Line 58: | ||
| # thus a dictionary of compatible values tupples is used to make sure the two motors are always in the same position | # 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)]} | 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)]} | ||
| Line 68: | Line 67: | ||
| max_pos=len(positions)-1 | max_pos=len(positions)-1 | ||
| key_pos=max_pos | key_pos=max_pos | ||
| - | | + | |
| # put the motors in the minimum position | # put the motors in the minimum position | ||
| linear_one.write(positions[key_pos][0][0]) | linear_one.write(positions[key_pos][0][0]) | ||
| linear_two.write(positions[key_pos][0][1]) | linear_two.write(positions[key_pos][0][1]) | ||
| time.sleep(5) | time.sleep(5) | ||
| - | | + | |
| while True: | while True: | ||
| newPackets=int(lookup(lasted)) | newPackets=int(lookup(lasted)) | ||
| Line 79: | Line 78: | ||
| print 'packetsDiff', packetsDiff | print 'packetsDiff', packetsDiff | ||
| # decide whether to stretch or shrink (when shrinking the height of the space increases): | # decide whether to stretch or shrink (when shrinking the height of the space increases): | ||
| - | if packetsDiff>=10 and packetsDiff<50 and key_pos>0: | + | # case 1: motors will shrink for one position each; the initial key_pos value needs to be bigger than 0 |
| + | if packetsDiff>=8 and packetsDiff<50 and key_pos>0: | ||
| new_key=key_pos-1 | new_key=key_pos-1 | ||
| - | print 'linear1 will shrink',positions[new_key][0][0] | + | print 'case 1: new_key=', new_key, 'position:', positions[new_key] |
| - | print 'linear2 will shrink',positions[new_key][0][1] | + | #print 'linear1 will shrink',positions[new_key][0][0] |
| - | print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos) | + | #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]) | linear_one.write(positions[new_key][0][0]) | ||
| time.sleep(0.3) | time.sleep(0.3) | ||
| Line 90: | Line 91: | ||
| key_pos=new_key #update position | key_pos=new_key #update position | ||
| - | elif packetsDiff>50 and key_pos>0: | + | # 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 | new_key=key_pos-5 | ||
| if new_key<=0: | if new_key<=0: | ||
| + | print 'case 2: but cannot shrink more' | ||
| new_key=1 #reset position | new_key=1 #reset position | ||
| key_pos=new_key #update position | key_pos=new_key #update position | ||
| else: | else: | ||
| - | print 'linear1 will shrink',positions[new_key][0][0] | + | print 'case 2: new_key=', new_key, 'position:', positions[new_key] |
| - | print 'linear2 will shrink',positions[new_key][0][1] | + | #print 'linear1 will shrink',positions[new_key][0][0] |
| + | #print 'linear2 will shrink',positions[new_key][0][1] | ||
| linear_one.write(positions[new_key][0][0]) | linear_one.write(positions[new_key][0][0]) | ||
| time.sleep(0.3) | time.sleep(0.3) | ||
| Line 103: | Line 107: | ||
| time.sleep(0.3) | time.sleep(0.3) | ||
| key_pos=new_key #update position | key_pos=new_key #update position | ||
| + | # 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: | elif packetsDiff<=0 and key_pos<max_pos: | ||
| new_key=key_pos+2 | new_key=key_pos+2 | ||
| - | print 'linear1 will stretch',positions[new_key][0][0] | + | if new_key>=max_pos: |
| - | print 'linear2 will stretch',positions[new_key][0][1] | + | print 'case 3: but cannot stretch more' |
| - | print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos) | + | new_key=max_pos |
| - | linear_one.write(positions[new_key][0][0]) | + | key_pos=new_key #update position |
| - | time.sleep(0.3) | + | else: |
| - | linear_two.write(positions[new_key][0][1]) | + | print 'case 3: new_key=', new_key, 'position:', positions[new_key] |
| - | time.sleep(0.3) | + | #print 'linear1 will stretch',positions[new_key][0][0] |
| - | key_pos=new_key #update position | + | #print 'linear2 will stretch',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 | ||
| else: | else: | ||
| print "else: packetDiff is too little", packetsDiff | print "else: packetDiff is too little", packetsDiff | ||
| new_key=key_pos | new_key=key_pos | ||
| - | print 'nothing changed, will stay in the position', positions[new_key] | + | #print 'nothing changed, will stay in the position', positions[new_key] |
| time.sleep(3) | time.sleep(3) | ||
| packets=newPackets #updates the packets | packets=newPackets #updates the packets | ||
| + | |||
| </code> | </code> | ||
motors-scanner-test-1.txt · Last modified: 2012/10/08 16:45 by 85.218.109.130
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