robocad-py 1.1.0.0__tar.gz → 1.1.1.0__tar.gz

{robocad_py-1.1.0.0/robocad_py.egg-info → robocad_py-1.1.1.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robocad-py
-Version: 1.1.0.0
+Version: 1.1.1.0
 Summary: python lib for real and virtual robots
 Home-page: https://github.com/Soft-V/robocad-py
 Author: Airat Abdrakov

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/robocad/algaritm.py

@@ -78,6 +78,14 @@ class RobotAlgaritm(Robot):
     def yaw(self):
         return self.__algaritm_internal.yaw
     
+    @property
+    def pitch(self):
+        return self.__algaritm_internal.pitch
+    
+    @property
+    def roll(self):
+        return self.__algaritm_internal.roll
+    
     @property
     def us_1(self):
         return self.__algaritm_internal.ultrasound_1
@@ -142,6 +150,12 @@ class RobotAlgaritm(Robot):
     def additional_servo_2(self, value):
         self.__algaritm_internal.additional_servo_2 = value
 
+    def set_pid_settings(self, use_pid, p, i, d):
+        self.__algaritm_internal.use_pid = use_pid
+        self.__algaritm_internal.p_pid = p
+        self.__algaritm_internal.i_pid = i
+        self.__algaritm_internal.d_pid = d
+
     # num 1 or 2
     def step_motor_move(self, num, steps: int, steps_per_second: int, direction: bool):
         self.__algaritm_internal.step_motor_move(num, steps, steps_per_second, direction)

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/robocad/internal/algaritm_internal.py

@@ -47,7 +47,7 @@ class AlgaritmInternal:
         self.step_motor_2_steps_per_s: int = 0
         self.step_motor_1_direction: bool = False
         self.step_motor_2_direction: bool = False
-        self.use_pid: bool = True
+        self.use_pid: bool = False
         self.p_pid: float = 0.14
         self.i_pid: float = 0.1
         self.d_pid: float = 0.0
@@ -210,10 +210,10 @@ class TitanCOM:
         tx_data[4] = int(numpy.clip(self.__robot_internal.speed_motor_3, -100, 100)).to_bytes(1, 'big', signed = True)[0]
 
         # for ProgramIsRunning and directions
-        tx_data[5] = int('1' + ("1") +
-                               ("1" if self.__robot_internal.step_motor_1_direction else "0") +
-                               ("1" if self.__robot_internal.step_motor_2_direction else "0") + 
-                               ("1" if self.__robot_internal.use_pid else "0") + '001', 2)
+        tx_data[5] = int('11' +
+                        ("1" if self.__robot_internal.step_motor_1_direction else "0") +
+                        ("1" if self.__robot_internal.step_motor_2_direction else "0") + 
+                        ("1" if self.__robot_internal.use_pid else "0") + '001', 2)
         
         tx_data[6] = int(self.__robot_internal.additional_servo_1)
         tx_data[7] = int(self.__robot_internal.additional_servo_2)
@@ -355,6 +355,9 @@ class VMXSPI:
             self.__robot_internal.roll_unlim += self.calc_angle_unlim(new_roll, self.__robot_internal.roll)
             self.__robot_internal.roll = new_roll
 
+            power: float = ((data[8] & 0xff) << 8 | (data[7] & 0xff)) / 100
+            self.__robot.power = power
+
     def set_up_tx_data(self) -> bytearray:
         tx_list: bytearray = bytearray([0x00] * 16)
 

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/robocad/internal/common/connection.py

@@ -30,7 +30,13 @@ class ListenPort:
         except ConnectionRefusedError:
             self.__robot.write_log("LP: Failed to connect on port " + str(self.__port))
             print("LP: Failed to connect on port " + str(self.__port))
-        self.__robot.write_log("connected: " + str(self.__port))
+            try:
+                self.__sct.shutdown(socket.SHUT_RDWR)
+                self.__sct.close()
+            except (OSError, Exception): pass  # idc
+            return
+
+        self.__robot.write_log("LP: Connected: " + str(self.__port))
         while not self.__stop_thread:
             try:
                 dt = "Wait for data".encode('utf-16-le')
@@ -49,7 +55,7 @@ class ListenPort:
             except (ConnectionAbortedError, BrokenPipeError, OSError):
                 # возникает при отключении сокета
                 break
-        self.__robot.write_log("disconnected: " + str(self.__port))
+        self.__robot.write_log("LP: Disconnected: " + str(self.__port))
         try:
             self.__sct.shutdown(socket.SHUT_RDWR)
             self.__sct.close()
@@ -105,7 +111,13 @@ class TalkPort:
         except ConnectionRefusedError:
             self.__robot.write_log("TP: Failed to connect on port " + str(self.__port))
             print("TP: Failed to connect on port " + str(self.__port))
-        self.__robot.write_log("connected: " + str(self.__port))
+            try:
+                self.__sct.shutdown(socket.SHUT_RDWR)
+                self.__sct.close()
+            except (OSError, Exception): pass  # idc
+            return
+        
+        self.__robot.write_log("TP: Connected: " + str(self.__port))
         while not self.__stop_thread:
             try:
                 dt_ln = struct.pack('<I', len(self.out_bytes))
@@ -118,7 +130,7 @@ class TalkPort:
             except (ConnectionAbortedError, BrokenPipeError, OSError):
                 # возникает при отключении сокета
                 break
-        self.__robot.write_log("disconnected: " + str(self.__port))
+        self.__robot.write_log("LP: Disconnected: " + str(self.__port))
         try:
             self.__sct.shutdown(socket.SHUT_RDWR)
             self.__sct.close()

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/robocad/internal/studica_internal.py

@@ -252,7 +252,7 @@ class TitanCOM:
                     self.__robot.robot_info.com_count_dev = comm_counter
                     comm_counter = 0
 
-                time.sleep(0.001)
+                time.sleep(0.002)
                 self.__robot.robot_info.com_time_dev = round(time.time() * 10000) - start_time
                 start_time = round(time.time() * 10000)
         except Exception as e:

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/robocad/shufflecad.py

@@ -81,7 +81,7 @@ class ShuffleVariable(object):
 
     def set_radar(self, value: list) -> None:
         complete_list = list()
-        for i in range(0, 360):
+        for i in range(len(value)):
             complete_list.append(i)
             complete_list.append(value[i])
         self.value = "+".join(map(str, complete_list))

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/robocad/studica.py

@@ -11,7 +11,6 @@ class RobotVmxTitan(Robot):
 
         super().__init__(is_real_robot, conf)
         self.__studica_internal = StudicaInternal(self, conf)
-        self.__reseted_yaw_val = 0.0
 
         signal.signal(signal.SIGTERM, self.handler)
         signal.signal(signal.SIGINT, self.handler)
@@ -76,24 +75,7 @@ class RobotVmxTitan(Robot):
     
     @property
     def yaw(self):
-        return self.__studica_internal.yaw_unlim
-
-    @property
-    def yaw(self):
-        return self.__normalize_angle(self.__get_pure_yaw() - self.__reseted_yaw_val)
-    
-    def reset_yaw(self, value: float = 0.0):
-        self.__reseted_yaw_val = self.__normalize_angle(self.__get_pure_yaw() - value)
-        
-    def __get_pure_yaw(self):
         return self.__studica_internal.yaw
-    
-    def __normalize_angle(self, angle: float) -> float:
-        if angle < -180:
-            return angle + 360
-        elif angle > 180:
-            return angle - 360
-        return angle
 
     @property
     def us_1(self):

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0/robocad_py.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robocad-py
-Version: 1.1.0.0
+Version: 1.1.1.0
 Summary: python lib for real and virtual robots
 Home-page: https://github.com/Soft-V/robocad-py
 Author: Airat Abdrakov

{robocad_py-1.1.0.0 → robocad_py-1.1.1.0}/setup.py

@@ -10,7 +10,7 @@ classifiers = [
 
 setup(
     name='robocad-py',
-    version='1.1.0.0',
+    version='1.1.1.0',
     description='python lib for real and virtual robots',
     long_description="Python library for real and virtual robots" + '\n\n' + open('CHANGELOG.md').read(),
     url='https://github.com/Soft-V/robocad-py',