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