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movearm/game_stencil.py

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+import threading
+import time
+
+
+
+
+
+startTime = time.time()
+nowTime = 0;
+
+currentMotor = 0
+motorcfg = [0] * 10
+motorcfg[1] = {"positive":1, "negative":2, 'speedslot':2}
+motorcfg[2] = {"positive":3, "negative":4, 'speedslot':4}
+motorcfg[3] = {"positive":5, "negative":6, 'speedslot':6}
+
+friction = 0.99
+movement_time = 5
+max_movement_time = 10
+min_speed = 1
+max_speed = 50
+
+speed = 0
+stopTime = 0
+isRunning = False
+
+def adjustSpeed(motor, adjustment):
+	global nowTime, stopTime, currentMotor, speed, motorcfg, movement_time, max_speed, max_movement_time
+
+	if currentMotor==motor:
+		speed += adjustment * (abs(speed)/max_speed)
+		stopTime += movement_time/2 * max_movement_time/(stopTime - nowTime)
+	else:
+		currentMotor = motor
+		speed = adjustment
+		stopTime = nowTime + movement_time
+		if(speed>0):
+			print("JOG command {}".format(motorcfg[currentMotor]['positive']))
+		else:
+			print("JOG command {}".format(motorcfg[currentMotor]['negative']))
+			
+
+def stopMotorFunctions():
+	global currentMotor, speed
+	currentMotor = 0
+	speed = 0
+	print ("JOB command stop all motors")
+
+def updateLoop():
+	global nowTime, stopTime, currentMotor, speed, friction, min_speed, motorcfg
+	nowTime = (time.time() - startTime)
+	threading.Timer(0.2, updateLoop).start()
+	
+	if currentMotor != 0:
+		if nowTime > stopTime:
+			stopMotorFunctions()
+			return
+		else:
+			speed *= friction
+			if abs(speed) < min_speed:
+				stopMotorFunctions()
+				return
+			print("JOG parameter {} to {}".format( motorcfg[currentMotor]['speedslot'], abs(speed)) )
+
+
+def rt():
+	adjustSpeed(1, 5)
+
+def lt():
+	adjustSpeed(1, -5)
+
+def up():
+	adjustSpeed(2, 5)
+
+def dn():
+	adjustSpeed(2, -5)
+
+updateLoop();