Merge pull request #24 from orionrobots/on_pi

Make demos work

Author: dannystaple

.gitignore

@@ -4,3 +4,5 @@ __pycache__
 *.pyc
 .idea
 *.dll
+*.egg-info
+.vscode

demos/key_ctrl.py

@@ -0,0 +1,80 @@
+"""Pygame key_ctrl - key based arm controller"""
+from functools import partial
+import logging
+import sys
+
+import pygame
+from pygame.locals import *
+
+import owi_maplin_usb_arm as usb_arm
+
+def handle_keys_held(arm):
+    pressed_keys = pygame.key.get_pressed()
+    pattern = usb_arm.Stop
+    if pressed_keys[K_z]:
+        pattern = pattern | usb_arm.BaseClockWise
+    elif pressed_keys[K_x]:
+        pattern = pattern | usb_arm.BaseCtrClockWise
+    if pressed_keys[K_a]:
+        pattern = pattern | usb_arm.ShoulderDown
+    elif pressed_keys[K_q]:
+        pattern = pattern | usb_arm.ShoulderUp
+    if pressed_keys[K_s]:
+        pattern = pattern | usb_arm.ElbowDown
+    elif pressed_keys[K_w]:
+        pattern = pattern | usb_arm.ElbowUp
+    if pressed_keys[K_d]:
+        pattern = pattern | usb_arm.WristDown
+    elif pressed_keys[K_e]:
+        pattern = pattern | usb_arm.WristUp
+    if pressed_keys[K_r]:
+        pattern = pattern | usb_arm.CloseGrips
+    elif pressed_keys[K_f]:
+        pattern = pattern | usb_arm.OpenGrips
+    if pressed_keys[K_l]:
+        pattern = pattern | usb_arm.LedOn
+    arm.tell(pattern)
+
+
+def key_loop():
+    try:
+        arm = usb_arm.Arm()
+    except AttributeError:
+        print("Please make sure the arm is connected and turned on")
+        sys.exit(1)
+
+    pygame.clock = pygame.time.Clock()
+    FPS = 50
+
+    try:
+        while True:
+            for event in pygame.event.get():
+                if event.type == QUIT:
+                    pygame.quit()
+                    return
+                if event.type == KEYDOWN:
+                    if event.key == K_ESCAPE:
+                        pygame.quit()
+                        return
+            handle_keys_held(arm)
+            pygame.clock.tick(FPS)
+    finally:
+        arm.tell(usb_arm.Stop)
+
+
+def main():
+    logging.basicConfig()
+    usb_arm.logger.setLevel(logging.DEBUG)
+    pygame.init()
+    pygame.display.set_mode([200, 200])
+    print("Press z/x to turn the base motor")
+    print("Press a/q to move the shoulder up/down")
+    print("Press w/s to move the elbow up/down")
+    print("Press e/d to move the wrist up/down")
+    print("Press r/f to close/open the grips")
+    print("Press l to toggle the LED")
+    print("Press ESC to exit")
+    key_loop()
+
+
+main()

demos/pg_key_ctrl.py

@@ -0,0 +1,64 @@
+"""Console keyboard based arm controller.
+Requires readchar
+"""
+from functools import partial
+import logging
+import sys
+import time
+
+from readchar import readkey, key
+
+import owi_maplin_usb_arm as usb_arm
+
+
+KEYMAP =  {
+    'z': usb_arm.BaseClockWise,
+    'x': usb_arm.BaseCtrClockWise,
+    'r': usb_arm.CloseGrips,
+    'f': usb_arm.OpenGrips,
+    'a': usb_arm.ShoulderDown,
+    'q': usb_arm.ShoulderUp,
+    's': usb_arm.ElbowDown,
+    'w': usb_arm.ElbowUp,
+    'd': usb_arm.WristDown,
+    'e': usb_arm.WristUp,
+    'l': usb_arm.LedOn
+}
+
+def handle_key(arm, pressed_key):
+    if pressed_key in KEYMAP:
+        message = KEYMAP[pressed_key]
+        print("Key ", pressed_key, "Movement message", message)
+
+        arm.move(message, 0.5)
+
+def key_loop():
+    try:
+        arm = usb_arm.Arm()
+    except AttributeError:
+        print("Please make sure the arm is connected and turned on")
+        sys.exit(1)
+    handle = partial(handle_key, arm)
+    exit_key = key.ESC
+
+    while True:
+        pressed_key = readkey()
+        if pressed_key == exit_key:
+            return
+        else:
+            handle(pressed_key)
+        time.sleep(0.1)
+
+def main():
+    logging.basicConfig()
+    usb_arm.logger.setLevel(logging.DEBUG)
+    print("Press z/x to turn the base motor")
+    print("Press a/q to move the shoulder up/down")
+    print("Press w/s to move the elbow up/down")
+    print("Press e/d to move the wrist up/down")
+    print("Press r/f to close/open the grips")
+    print("Press l to toggle the LED")
+    print("Press ESC to exit")
+    key_loop()
+
+main()

demos/sh_key_ctrl.py

@@ -0,0 +1,13 @@
+import owi_maplin_usb_arm as usb_arm
+import logging
+
+logging.basicConfig(level=logging.DEBUG)
+
+arm = usb_arm.Arm()
+
+arm.move(usb_arm.LedOn)
+print("Wrist up")
+arm.move(usb_arm.WristUp)
+print("Wrist down")
+arm.move(usb_arm.WristDown)
+

demos/simple.py

@@ -73,7 +73,7 @@ def __init__(self):
 
     def tell(self, msg):
         """Send a USB messaqe to the arm"""
-        bmRequestType = 0x40
+        bmRequestType = usb.TYPE_VENDOR
         bRequest = 6
         wValue = 0x100
         wIndex = 0