RoboBuggy

# Keyboard Driver for buggy

# Do not run this from IDLE!

# You must run this from the shell (and currently on windows)

#  to make this work properly.

import serial

from threading import Thread

from time import sleep

import msvcrt # Recieve keypresses

# Set starting values

steeringAngle = 0 # Steering angle, "in degrees" (not really)

                  # between -1 and 1.

brake = 1

# Thread sync

ending = 0

def send_packet(servoAngle, brake):

    currentpacket = 'A'+str(servoAngle)+'B'+str(brake)+'C'

    print currentpacket

    if(ser == None):

        return

    ser.write('A')

    ser.write(str(servoAngle))

    ser.write('B')

    ser.write(str(brake))

    ser.write('C')

def send_packet_thread():

    print "Send Packet thread started!"

    while(True):

        if(ending==1):

            print "Shutting down send_packet thread..."

            break;

        sleep(0.3)

        servo_angle = get_servo_position(steeringAngle)

        send_packet(servo_angle, brake)

def keyloop_thread():

    global steeringAngle

    global ending

    print "Keyloop started, press 'p' to quit"

    while(True):

        if(ending==1):

            print "Shutting down keyloop thread..."

            break;

        sleep(.1)

        key = ord(msvcrt.getch()) # getch is blocking

        if key == 97: # 'a'

            steeringAngle -= .1

            print " L : New angle:", steeringAngle

        elif key == 100: # 'd'

            steeringAngle += .1

            print " R : New angle:", steeringAngle

        elif key==255: # Stop running from idle!

            print "NONONO - STOP RUNNING FROM IDLE!!!"

        elif key==112: # 'p'

            ending = 1

# Get the servo angle from steeringAngle

def get_servo_position(steeringAngle):

    sAngle = (-1.0*(steeringAngle - 1))/2.0

    sAngle = (sAngle*60)+95

    sAngle = int(sAngle)

    if sAngle > 180:

        sAngle = 180

    return sAngle

if __name__ == "__main__":

    try:

        ser = serial.Serial('COM12', 9600, timeout=5)

    except:

        ser = None

    klThread = Thread(target = keyloop_thread, args = ())

    spThread = Thread(target = send_packet_thread, args=())

    klThread.start()

    spThread.start()

    print "thread loop started!"

    klThread.join()

    spThread.join()

    ser.close()