ITL-Stefan/robot.py
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This commit is contained in:
Patrick Tschuchnig 2018-10-24 13:38:25 +02:00
parent 4d9a3eaa93
commit 66a87dd140
1 changed files with 30 additions and 25 deletions
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robot.py Normal file → Executable file
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@ -24,6 +24,7 @@ robot2 = Kran(40, 38, 37, 36, 35, 33, 32, 31)
dev = InputDevice('/dev/input/event0') dev = InputDevice('/dev/input/event0')
print("waiting for inputs")
def robot1func(event1): def robot1func(event1):
# handgelenk on # handgelenk on
@ -31,7 +32,7 @@ def robot1func(event1):
if event1.code == 25: if event1.code == 25:
robot1.move("H", 1) robot1.move("H", 1)
print(event.code,"H") print(event1.code,"H")
return 1 return 1
# handgelenk off # handgelenk off
@ -39,15 +40,15 @@ def robot1func(event1):
elif event1.code == 39: elif event1.code == 39:
robot1.move("H", 2) robot1.move("H", 2)
print(event.code,"H" print(event1.code,"H")
) return 1 return 1
# ellenbogen on # ellenbogen on
# taste ü # taste ü
elif event1.code == 26: elif event1.code == 26:
robot1.move("E", 1) robot1.move("E", 1)
print(event.code,"E") print(event1.code,"E")
return 1 return 1
# ellenbogen off # ellenbogen off
@ -55,7 +56,7 @@ def robot1func(event1):
elif event1.code == 40: elif event1.code == 40:
robot1.move("E", 2) robot1.move("E", 2)
print(event.code,"E") print(event1.code,"E")
return 1 return 1
# armgelenk on # armgelenk on
@ -63,7 +64,7 @@ def robot1func(event1):
elif event1.code == 27: elif event1.code == 27:
robot1.move("A", 1) robot1.move("A", 1)
print(event.code,"A") print(event1.code,"A")
return 1 return 1
# armgelenk off # armgelenk off
@ -71,7 +72,7 @@ def robot1func(event1):
elif event1.code == 43: elif event1.code == 43:
robot1.move("A", 2) robot1.move("A", 2)
print(event.code,"A") print(event1.code,"A")
return 1 return 1
# basis off # basis off
@ -79,7 +80,7 @@ def robot1func(event1):
elif event1.code == 52: elif event1.code == 52:
robot1.move("B", 2) robot1.move("B", 2)
print(event.code,"B") print(event1.code,"B")
return 1 return 1
# basis on # basis on
@ -87,7 +88,7 @@ def robot1func(event1):
elif event1.code == 53: elif event1.code == 53:
robot1.move("B", 1) robot1.move("B", 1)
print(event.code,"B") print(event1.code,"B")
return 1 return 1
# greifer off # greifer off
@ -95,7 +96,7 @@ def robot1func(event1):
elif event1.code == 24: elif event1.code == 24:
robot1.move("G", 2) robot1.move("G", 2)
print(event.code,"G") print(event1.code,"G")
return 1 return 1
# greifer on # greifer on
@ -103,7 +104,7 @@ def robot1func(event1):
elif event1.code == 38: elif event1.code == 38:
robot1.move("G", 1) robot1.move("G", 1)
print(event.code,"G") print(event1.code,"G")
return 1 return 1
# licht on # licht on
@ -111,7 +112,7 @@ def robot1func(event1):
elif event1.code == 51: elif event1.code == 51:
robot1.move("L", 1) robot1.move("L", 1)
print(event.code,"L") print(event1.code,"L")
return 1 return 1
# taste m # taste m
@ -119,7 +120,7 @@ def robot1func(event1):
elif event1.code == 50: elif event1.code == 50:
robot1.cleanup() robot1.cleanup()
robot2.cleanup() robot2.cleanup()
print(event.code,"cleanup") print(event1.code,"cleanup")
return 1 return 1
@ -130,7 +131,7 @@ def robot2func(event2):
if event2.code == 17: if event2.code == 17:
robot2.move("H", 1) robot2.move("H", 1)
print(event.code,"H") print(event2.code,"H")
return 1 return 1
# handgelenk off # handgelenk off
@ -138,7 +139,7 @@ def robot2func(event2):
if event2.code == 31: if event2.code == 31:
robot2.move("H", 2) robot2.move("H", 2)
print(event.code,"H") print(event2.code,"H")
return 1 return 1
# ellenbogen on # ellenbogen on
@ -146,14 +147,14 @@ def robot2func(event2):
elif event2.code == 18: elif event2.code == 18:
robot2.move("E", 1) robot2.move("E", 1)
print(event.code,"E") print(event2.code,"E")
return 1 return 1
# ellenbogen off # ellenbogen off
# taste d # taste d
elif event2.code == 32: elif event2.code == 32:
robot2.move("E", 2) robot2.move("E", 2)
print(event.code,"E") print(event2.code,"E")
return 1 return 1
# arm on # arm on
@ -161,7 +162,7 @@ def robot2func(event2):
elif event2.code == 19: elif event2.code == 19:
robot2.move("A", 1) robot2.move("A", 1)
print(event.code,"A") print(event2.code,"A")
return 1 return 1
# arm off # arm off
@ -169,7 +170,7 @@ def robot2func(event2):
elif event2.code == 33: elif event2.code == 33:
robot2.move("A", 2) robot2.move("A", 2)
print(event.code,"A") print(event2.code,"A")
return 1 return 1
# basis off # basis off
@ -177,7 +178,7 @@ def robot2func(event2):
elif event2.code == 45: elif event2.code == 45:
robot2.move("B", 2) robot2.move("B", 2)
print(event.code,"B") print(event2.code,"B")
return 1 return 1
# basis on # basis on
@ -185,7 +186,7 @@ def robot2func(event2):
elif event2.code == 46: elif event2.code == 46:
robot2.move("B", 1) robot2.move("B", 1)
print(event.code,"B") print(event2.code,"B")
return 1 return 1
# greifer off # greifer off
@ -193,7 +194,7 @@ def robot2func(event2):
elif event2.code == 16: elif event2.code == 16:
robot2.move("G", 2) robot2.move("G", 2)
print(event.code,"G") print(event2.code,"G")
return 1 return 1
# greifer on # greifer on
@ -201,7 +202,7 @@ def robot2func(event2):
elif event2.code == 30: elif event2.code == 30:
robot2.move("G", 1) robot2.move("G", 1)
print(event.code,"G") print(event2.code,"G")
return 1 return 1
# licht on # licht on
@ -209,14 +210,14 @@ def robot2func(event2):
elif event2.code == 44: elif event2.code == 44:
robot2.move("L", 1) robot2.move("L", 1)
print(event.code,"L") print(event2.code,"L")
return 1 return 1
# taste v # taste v
elif event2.code == 47: elif event2.code == 47:
robot2.cleanup() robot2.cleanup()
print(event.code,"cleanup") print(event2.code,"cleanup")
return 1 return 1
@ -231,10 +232,14 @@ def runInParallel(*fns):
def manuell(): def manuell():
print("manuell")
flag1 = 0 flag1 = 0
flag2 = 0 flag2 = 0
for event in dev.read_loop(): for event in dev.read_loop():
print("reading events")
#time.sleep
if event.type == ecodes.EV_KEY: if event.type == ecodes.EV_KEY:
print("ev_key detected")
if event.value == 1: if event.value == 1:
if flag1 == 0: if flag1 == 0:
flag1 = robot1func(event) flag1 = robot1func(event)