PyEddieControl/EddieDrive.py at master · WRadigan/PyEddieControl · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
'''
This is a script to 'drive' Eddie via keyboard input

Usage:
> python EddieDrive.py

*** NOTE ***
This script does not work within the Enthought Canopy environment.
It must be run from the command line via: python EddieDrive.py

It is also currently only works on Windows too, sorry.
'''

# WARNING # - Getch is a Windows only function.  Similar functionality
# is available on Linux/MacOS.
from msvcrt import getch, kbhit


import sys
from time import sleep

# This is the IP address for my Eddie, yours will probably be different
# OLD USAGE --> MyEddie = PyEddiePlus.EddiePlus("Edward","192.168.1.111")
import PyEddiePlus
MyEddie = PyEddiePlus.EddiePlus("Edward")
MyEddie.FindEddie()
MyEddie.InitializeEddie()

print "Use a,d,w & x to drive Eddie"
print "Press q to Quit"
print
sys.stdout.flush()

MaxSpeed = 10
MaxTurn = 6

SpeedVal = 0
TurnVal = 0
KeyPress = 's'

while KeyPress is not "q":
    # Take keyboard input and issue appropriate commands to Eddie

    if kbhit():
        # If a new keystroke is waiting to be read
        KeyPress = getch()

        if KeyPress is 'a':
            TurnVal -= 1
        elif KeyPress is 'd':
            TurnVal += 1
        elif KeyPress is 'w':
            SpeedVal += 1
        elif KeyPress is 'x':
            SpeedVal -= 1
        elif KeyPress is 's':
            SpeedVal = 0
            TurnVal = 0
        else:
            # Do nothing
            # Received a character other than an Eddie command
            print "Key Received: {0}".format(KeyPress)
            #pass
    else:
        # Increment Eddie's speed towards zero
        if TurnVal > 0:
            TurnVal = abs(TurnVal) - 1
        elif TurnVal < 0:
            TurnVal = - (abs(TurnVal) - 1)

        if SpeedVal > 0:
            SpeedVal = abs(SpeedVal) - 1
        elif SpeedVal < 0:
            SpeedVal = - (abs(SpeedVal) - 1)

    # Limit the maximum speed
    if SpeedVal > MaxSpeed:
        SpeedVal = MaxSpeed

    if TurnVal > MaxTurn:
        TurnVal = MaxTurn

    #print "Turn  = {0}".format(TurnVal)
    #print "Speed = {0}".format(SpeedVal)

    MyEddie.Turn(TurnVal)
    MyEddie.Drive(SpeedVal)

    # Go through the loop at about 10Hz
    sleep(.05)

MyEddie.Disconnect()

print "Eddie is tired, he needs to rest now."