From 66a87dd1402f5932acdcc945cbfceae34742cffd Mon Sep 17 00:00:00 2001
From: Patrick Tschuchnig <patrick.tschuchnig@wolfsberg.local>
Date: Wed, 24 Oct 2018 13:38:25 +0200
Subject: [PATCH] Neue Version

---
 robot.py | 55 ++++++++++++++++++++++++++++++-------------------------
 1 file changed, 30 insertions(+), 25 deletions(-)
 mode change 100644 => 100755 robot.py

diff --git a/robot.py b/robot.py
old mode 100644
new mode 100755
index 45a166f..3ae3ee9
--- a/robot.py
+++ b/robot.py
@@ -24,6 +24,7 @@ robot2 = Kran(40, 38, 37, 36, 35, 33, 32, 31)
 
 dev = InputDevice('/dev/input/event0')
 
+print("waiting for inputs")
 def robot1func(event1):
 
 # handgelenk on
@@ -31,7 +32,7 @@ def robot1func(event1):
 
     if event1.code == 25:
         robot1.move("H", 1)
-        print(event.code,"H")
+        print(event1.code,"H")
 	return 1
 
 # handgelenk off
@@ -39,15 +40,15 @@ def robot1func(event1):
 
     elif event1.code == 39:
         robot1.move("H", 2)
-        print(event.code,"H"
-)       return 1
+        print(event1.code,"H")
+        return 1
 
 # ellenbogen on
 # taste ü
 
     elif event1.code == 26:
         robot1.move("E", 1)
-        print(event.code,"E")
+        print(event1.code,"E")
         return 1
 
 # ellenbogen off
@@ -55,7 +56,7 @@ def robot1func(event1):
 
     elif event1.code == 40:
         robot1.move("E", 2)
-        print(event.code,"E")
+        print(event1.code,"E")
         return 1
 
 # armgelenk on
@@ -63,7 +64,7 @@ def robot1func(event1):
 
     elif event1.code == 27:
         robot1.move("A", 1)
-        print(event.code,"A")
+        print(event1.code,"A")
         return 1
 
 # armgelenk off
@@ -71,7 +72,7 @@ def robot1func(event1):
 
     elif event1.code == 43:
         robot1.move("A", 2)
-        print(event.code,"A")
+        print(event1.code,"A")
         return 1
 
 # basis off 
@@ -79,7 +80,7 @@ def robot1func(event1):
 
     elif event1.code == 52:
         robot1.move("B", 2)
-        print(event.code,"B")
+        print(event1.code,"B")
         return 1
 
 # basis on
@@ -87,7 +88,7 @@ def robot1func(event1):
 
     elif event1.code == 53:
         robot1.move("B", 1)
-        print(event.code,"B")
+        print(event1.code,"B")
         return 1
 
 # greifer off
@@ -95,7 +96,7 @@ def robot1func(event1):
 
     elif event1.code == 24:
         robot1.move("G", 2)
-        print(event.code,"G")
+        print(event1.code,"G")
         return 1
 
 # greifer on
@@ -103,7 +104,7 @@ def robot1func(event1):
 
     elif event1.code == 38:
         robot1.move("G", 1)
-        print(event.code,"G")
+        print(event1.code,"G")
         return 1
 
 # licht on
@@ -111,7 +112,7 @@ def robot1func(event1):
 
     elif event1.code == 51:
         robot1.move("L", 1)
-        print(event.code,"L")
+        print(event1.code,"L")
         return 1
 
 # taste m
@@ -119,7 +120,7 @@ def robot1func(event1):
     elif event1.code == 50:
         robot1.cleanup()
         robot2.cleanup()
-        print(event.code,"cleanup")
+        print(event1.code,"cleanup")
         return 1
 
 
@@ -130,7 +131,7 @@ def robot2func(event2):
 
     if event2.code == 17:
         robot2.move("H", 1)
-        print(event.code,"H")
+        print(event2.code,"H")
         return 1
 
 # handgelenk off
@@ -138,7 +139,7 @@ def robot2func(event2):
 
     if event2.code == 31:
 	robot2.move("H", 2)
-        print(event.code,"H")
+        print(event2.code,"H")
 	return 1
 
 # ellenbogen on
@@ -146,14 +147,14 @@ def robot2func(event2):
 
     elif event2.code == 18:
         robot2.move("E", 1)
-        print(event.code,"E")
+        print(event2.code,"E")
         return 1
 
 # ellenbogen off
 # taste d
     elif event2.code == 32:
         robot2.move("E", 2)
-        print(event.code,"E")
+        print(event2.code,"E")
         return 1
 
 # arm on
@@ -161,7 +162,7 @@ def robot2func(event2):
 
     elif event2.code == 19:
         robot2.move("A", 1)
-        print(event.code,"A")
+        print(event2.code,"A")
         return 1
 
 # arm off
@@ -169,7 +170,7 @@ def robot2func(event2):
 
     elif event2.code == 33:
         robot2.move("A", 2)
-        print(event.code,"A")
+        print(event2.code,"A")
         return 1
 
 # basis off
@@ -177,7 +178,7 @@ def robot2func(event2):
 
     elif event2.code == 45:
         robot2.move("B", 2)
-        print(event.code,"B")
+        print(event2.code,"B")
         return 1
 
 # basis on
@@ -185,7 +186,7 @@ def robot2func(event2):
 
     elif event2.code == 46:
         robot2.move("B", 1)
-        print(event.code,"B")
+        print(event2.code,"B")
         return 1
 
 # greifer off
@@ -193,7 +194,7 @@ def robot2func(event2):
 
     elif event2.code == 16:
         robot2.move("G", 2)
-        print(event.code,"G")
+        print(event2.code,"G")
         return 1
 
 # greifer on
@@ -201,7 +202,7 @@ def robot2func(event2):
 
     elif event2.code == 30:
         robot2.move("G", 1)
-        print(event.code,"G")
+        print(event2.code,"G")
         return 1
 
 # licht on
@@ -209,14 +210,14 @@ def robot2func(event2):
 
     elif event2.code == 44:
         robot2.move("L", 1)
-        print(event.code,"L")
+        print(event2.code,"L")
         return 1
 
 # taste v
 
     elif event2.code == 47:
         robot2.cleanup()
-        print(event.code,"cleanup")
+        print(event2.code,"cleanup")
         return 1
 
 
@@ -231,10 +232,14 @@ def runInParallel(*fns):
 
 
 def manuell():
+    print("manuell")
     flag1 = 0
     flag2 = 0
     for event in dev.read_loop():
+	print("reading events")
+	#time.sleep
         if event.type == ecodes.EV_KEY:
+            print("ev_key detected")
             if event.value == 1:
                 if flag1 == 0:
                     flag1 = robot1func(event)