ITL-Stefan/robot.py
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This commit is contained in:
Patrick Tschuchnig 2018-10-24 13:30:29 +02:00
parent 842b84a628
commit 6bf678cd84
1 changed files with 27 additions and 3 deletions
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robot.py Executable file → Normal file
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@ -22,7 +22,7 @@ import time
robot1 = Kran( 3, 5, 7, 8, 11, 10, 12, 16) robot1 = Kran( 3, 5, 7, 8, 11, 10, 12, 16)
robot2 = Kran(40, 38, 37, 36, 35, 33, 32, 31) robot2 = Kran(40, 38, 37, 36, 35, 33, 32, 31)
dev = InputDevice('/dev/input/event1') dev = InputDevice('/dev/input/event0')
def robot1func(event1): def robot1func(event1):
@ -31,6 +31,7 @@ def robot1func(event1):
if event1.code == 25: if event1.code == 25:
robot1.move("H", 1) robot1.move("H", 1)
print(event.code,"H")
return 1 return 1
# handgelenk off # handgelenk off
@ -38,13 +39,15 @@ def robot1func(event1):
elif event1.code == 39: elif event1.code == 39:
robot1.move("H", 2) robot1.move("H", 2)
return 1 print(event.code,"H"
) 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")
return 1 return 1
# ellenbogen off # ellenbogen off
@ -52,6 +55,7 @@ def robot1func(event1):
elif event1.code == 40: elif event1.code == 40:
robot1.move("E", 2) robot1.move("E", 2)
print(event.code,"E")
return 1 return 1
# armgelenk on # armgelenk on
@ -59,6 +63,7 @@ def robot1func(event1):
elif event1.code == 27: elif event1.code == 27:
robot1.move("A", 1) robot1.move("A", 1)
print(event.code,"A")
return 1 return 1
# armgelenk off # armgelenk off
@ -66,6 +71,7 @@ def robot1func(event1):
elif event1.code == 43: elif event1.code == 43:
robot1.move("A", 2) robot1.move("A", 2)
print(event.code,"A")
return 1 return 1
# basis off # basis off
@ -73,6 +79,7 @@ def robot1func(event1):
elif event1.code == 52: elif event1.code == 52:
robot1.move("B", 2) robot1.move("B", 2)
print(event.code,"B")
return 1 return 1
# basis on # basis on
@ -80,6 +87,7 @@ def robot1func(event1):
elif event1.code == 53: elif event1.code == 53:
robot1.move("B", 1) robot1.move("B", 1)
print(event.code,"B")
return 1 return 1
# greifer off # greifer off
@ -87,6 +95,7 @@ def robot1func(event1):
elif event1.code == 24: elif event1.code == 24:
robot1.move("G", 2) robot1.move("G", 2)
print(event.code,"G")
return 1 return 1
# greifer on # greifer on
@ -94,6 +103,7 @@ def robot1func(event1):
elif event1.code == 38: elif event1.code == 38:
robot1.move("G", 1) robot1.move("G", 1)
print(event.code,"G")
return 1 return 1
# licht on # licht on
@ -101,6 +111,7 @@ def robot1func(event1):
elif event1.code == 51: elif event1.code == 51:
robot1.move("L", 1) robot1.move("L", 1)
print(event.code,"L")
return 1 return 1
# taste m # taste m
@ -108,6 +119,7 @@ def robot1func(event1):
elif event1.code == 50: elif event1.code == 50:
robot1.cleanup() robot1.cleanup()
robot2.cleanup() robot2.cleanup()
print(event.code,"cleanup")
return 1 return 1
@ -118,6 +130,7 @@ def robot2func(event2):
if event2.code == 17: if event2.code == 17:
robot2.move("H", 1) robot2.move("H", 1)
print(event.code,"H")
return 1 return 1
# handgelenk off # handgelenk off
@ -125,6 +138,7 @@ def robot2func(event2):
if event2.code == 31: if event2.code == 31:
robot2.move("H", 2) robot2.move("H", 2)
print(event.code,"H")
return 1 return 1
# ellenbogen on # ellenbogen on
@ -132,12 +146,14 @@ def robot2func(event2):
elif event2.code == 18: elif event2.code == 18:
robot2.move("E", 1) robot2.move("E", 1)
print(event.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")
return 1 return 1
# arm on # arm on
@ -145,6 +161,7 @@ def robot2func(event2):
elif event2.code == 19: elif event2.code == 19:
robot2.move("A", 1) robot2.move("A", 1)
print(event.code,"A")
return 1 return 1
# arm off # arm off
@ -152,6 +169,7 @@ def robot2func(event2):
elif event2.code == 33: elif event2.code == 33:
robot2.move("A", 2) robot2.move("A", 2)
print(event.code,"A")
return 1 return 1
# basis off # basis off
@ -159,6 +177,7 @@ def robot2func(event2):
elif event2.code == 45: elif event2.code == 45:
robot2.move("B", 2) robot2.move("B", 2)
print(event.code,"B")
return 1 return 1
# basis on # basis on
@ -166,6 +185,7 @@ def robot2func(event2):
elif event2.code == 46: elif event2.code == 46:
robot2.move("B", 1) robot2.move("B", 1)
print(event.code,"B")
return 1 return 1
# greifer off # greifer off
@ -173,6 +193,7 @@ def robot2func(event2):
elif event2.code == 16: elif event2.code == 16:
robot2.move("G", 2) robot2.move("G", 2)
print(event.code,"G")
return 1 return 1
# greifer on # greifer on
@ -180,6 +201,7 @@ def robot2func(event2):
elif event2.code == 30: elif event2.code == 30:
robot2.move("G", 1) robot2.move("G", 1)
print(event.code,"G")
return 1 return 1
# licht on # licht on
@ -187,12 +209,14 @@ def robot2func(event2):
elif event2.code == 44: elif event2.code == 44:
robot2.move("L", 1) robot2.move("L", 1)
print(event.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")
return 1 return 1