diff --git a/client/.gitignore b/.gitignore similarity index 100% rename from client/.gitignore rename to .gitignore diff --git a/client/.idea/.gitignore b/.idea/.gitignore similarity index 100% rename from client/.idea/.gitignore rename to .idea/.gitignore diff --git a/client/.idea/client_s2.iml b/.idea/client_s2.iml similarity index 100% rename from client/.idea/client_s2.iml rename to .idea/client_s2.iml diff --git a/client/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml similarity index 100% rename from client/.idea/inspectionProfiles/Project_Default.xml rename to .idea/inspectionProfiles/Project_Default.xml diff --git a/client/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml similarity index 100% rename from client/.idea/inspectionProfiles/profiles_settings.xml rename to .idea/inspectionProfiles/profiles_settings.xml diff --git a/client/.idea/misc.xml b/.idea/misc.xml similarity index 100% rename from client/.idea/misc.xml rename to .idea/misc.xml diff --git a/client/.idea/modules.xml b/.idea/modules.xml similarity index 100% rename from client/.idea/modules.xml rename to .idea/modules.xml diff --git a/client/.idea/saveactions_settings.xml b/.idea/saveactions_settings.xml similarity index 100% rename from client/.idea/saveactions_settings.xml rename to .idea/saveactions_settings.xml diff --git a/client/.idea/vcs.xml b/.idea/vcs.xml similarity index 100% rename from client/.idea/vcs.xml rename to .idea/vcs.xml diff --git a/client/MANIFEST.in b/MANIFEST.in similarity index 100% rename from client/MANIFEST.in rename to MANIFEST.in diff --git a/build.sh b/build.sh index 657ddf0..f9f3020 100644 --- a/build.sh +++ b/build.sh @@ -4,7 +4,6 @@ mkdir output DEB="empty" -cd client source build_deb.sh echo "Ran build deb, created: $DEB" mv $DEB ../output diff --git a/client/build_deb.sh b/build_deb.sh similarity index 100% rename from client/build_deb.sh rename to build_deb.sh diff --git a/client/dev01.py b/client/dev01.py deleted file mode 100644 index 6ebfb8c..0000000 --- a/client/dev01.py +++ /dev/null @@ -1,24 +0,0 @@ -import time - -from compLib.CompLibClient import CompLibClient - - -def main(): - from compLib.Motor import Motor - - # Motor.speed(0, -50) - # Motor.speed(3, 50) - - Motor.power(0, 50) - Motor.power(3, -50) - - time.sleep(2) - - Motor.power(0, 0) - Motor.power(3, -0) - - -if __name__ == '__main__': - CompLibClient.use_tcp_socket("dev01.local") - # follow() - main() diff --git a/client/dev03.py b/client/dev03.py deleted file mode 100644 index d4ed808..0000000 --- a/client/dev03.py +++ /dev/null @@ -1,34 +0,0 @@ -import time - -from compLib.CompLibClient import CompLibClient -from compLib.IRSensor import IRSensor - - -def main(): - # Motor.speed(0, -50) - # Motor.speed(3, 50) - - # Motor.power(0, 50) - # Motor.power(3, -50) - # - # time.sleep(2) - # - # Motor.power(0, 0) - # Motor.power(3, -0) - - start_time = time.time() - for i in range(0, 1000): - IRSensor.read_all() - # Motor.multiple_power((0, 1), (3, 1)) - # Motor.speed(0, 1) - # Motor.speed(3, 1) - - print(1000.0 / (time.time() - start_time)) - - -if __name__ == '__main__': - # CompLibClient.use_tcp_socket("dev03.local") - CompLibClient.use_unix_socket() - # follow() - # cProfile.run("main()") - main() diff --git a/client/lf.py b/client/lf.py deleted file mode 100644 index 7476dc9..0000000 --- a/client/lf.py +++ /dev/null @@ -1,96 +0,0 @@ -from compLib.Motor import Motor -from compLib.IRSensor import IRSensor -from compLib.CompLibClient import CompLibClient - -import time -import math - -DRIVE_SPEED = 20.0 -COLOR_BREAK = 850 -KP = 7.5 -KD = 0.0 - -SAMPLE_TIME_S = 0.001 -CUTOFF_FREQ_HZ = 50.0 - -RC = 1.0 / (2.0 * math.pi * CUTOFF_FREQ_HZ) - -FIRST_COEFF = SAMPLE_TIME_S / (SAMPLE_TIME_S + RC) -SECOND_COEFF = RC / (SAMPLE_TIME_S + RC) - -out_old = 0.0 -start_time = time.time() - - -def drive(leftSpeed, rightSpeed): - rightSpeed *= -0.906 - - Motor.multiple_power((0, min(max(-100, rightSpeed), 100)), (3, min(max(-100, leftSpeed), 100))) - -def follow(sleepTime = 0.3): - global out_old - lastError = 0 - sensorsBlack = 0 - while sensorsBlack < 3: - sensor_data = IRSensor.read_all() - - sensorsBlack = 0 - for i in range(0, 5): - if sensor_data[i] > COLOR_BREAK: - sensorsBlack += 1 - - - middle_sensor = sensor_data[2] - filtered_sensor = FIRST_COEFF * middle_sensor + SECOND_COEFF * out_old - out_old = filtered_sensor - - sample_time = str(time.time() - start_time).replace(".", ",") - print(f"{sample_time} {middle_sensor} {int(filtered_sensor)}") - - error = lastError - if sensor_data[2] > COLOR_BREAK: - error = 0 - elif sensor_data[0] > COLOR_BREAK: - error = -1.5 - elif sensor_data[4] > COLOR_BREAK: - error = 1.5 - elif sensor_data[1] > COLOR_BREAK: - error = -1 - elif sensor_data[3] > COLOR_BREAK: - error = 1 - elif error == 1.5: - error = 3 - elif error == -1.5: - error = -3 - - lastError = error - - adjustment = KP * error + KD * (error - lastError) - leftSpeed = DRIVE_SPEED + adjustment - rightSpeed = DRIVE_SPEED - adjustment - - # print(f"{leftSpeed} {rightSpeed} {adjustment} {error}") - drive(leftSpeed, rightSpeed) - - time.sleep(SAMPLE_TIME_S) - - drive(0, 0) - time.sleep(sleepTime) - -def main(): - CompLibClient.use_unix_socket() - - IRSensor.enable() - time.sleep(0.5) - - # while True: - # print(IRSensor.read_all()) - # time.sleep(0.01) - - follow() - follow() - follow() - follow() - follow(0.2) - -main() \ No newline at end of file diff --git a/client/main.py b/client/main.py deleted file mode 100644 index 7e75006..0000000 --- a/client/main.py +++ /dev/null @@ -1,174 +0,0 @@ -import time - -from compLib.CompLibClient import CompLibClient - - -# def send(data, size): -# with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock: -# sock.connect(SOCKET_PATH) -# sock.sendall(size.to_bytes(1, byteorder='big')) -# sock.sendall(data) -# -# response_size_bytes = sock.recv(1) -# response_size = int.from_bytes(response_size_bytes, byteorder="big") -# # print(f"Response size: {response_size}") -# -# response_bytes = sock.recv(response_size) -# generic_response = CompLib_pb2.GenericResponse() -# -# generic_response.ParseFromString(response_bytes) -# # print(f"Response: {generic_response}") -# -# # reponseBytes = - - -def main(): - # encoder_read_positions_request = CompLib_pb2.EncoderReadPositionsRequest() - # # readSensorsRequest.header = CompLib_pb2.Header() - # encoder_read_positions_request.header.message_type = encoder_read_positions_request.DESCRIPTOR.full_name - # - # start_time = time.time() - # for i in range(100000): - # send(encoder_read_positions_request.SerializeToString(), encoder_read_positions_request.ByteSize()) - # print("--- %s seconds ---" % (time.time() - start_time)) - - from compLib.IRSensor import IRSensor - IRSensor.enable() - - startTime = time.time() - while time.time() - startTime < 10: - print(IRSensor.read_all()) - time.sleep(0.01) - - # from compLib.Encoder import Encoder - # print(Encoder.read_all_positions()) - # print(Encoder.read_all_velocities()) - - # from compLib.Motor import Motor - - # Motor.speed(0, -50) - # Motor.speed(3, 50) - - # Motor.power(0, -50) - # Motor.power(3, 50) - - # time.sleep(5) - - -# -# import time -# time.sleep(2) -# -# Motor.speed(0, 0) -# Motor.speed(3, -0) - -# Motor.power(0, 0) -# Motor.power(3, 0) - -# import math -# from compLib.Movement import Movement -# Movement.turn_degrees(90, math.pi * 2) -# Movement.turn_degrees(-90, math.pi * 2) -# -# Movement.turn_degrees(90, math.pi * 2) -# Movement.turn_degrees(90, -math.pi * 2) -# -# Movement.turn_degrees(90, math.pi * 2) -# Movement.turn_degrees(-90, -math.pi * 2) - -# from compLib.Movement import Movement -# Movement.drive_distance(0.1, 0.5) -# Movement.drive_distance(-0.1, 0.5) -# -# Movement.drive_distance(0.1, 0.5) -# Movement.drive_distance(0.1, -0.5) -# -# Movement.drive_distance(0.1, 0.5) -# Movement.drive_distance(-0.1, -0.5) - -# from compLib.Movement import Movement -# import math -# import time -# Movement.drive_distance(0.5, 0.5) -# time.sleep(1) -# Movement.turn_degrees(90, math.pi * 2) -# time.sleep(1) -# -# Movement.drive_distance(0.5, 0.5) -# time.sleep(1) -# Movement.turn_degrees(90, math.pi * 2) -# time.sleep(1) -# -# Movement.drive_distance(0.5, 0.5) -# time.sleep(1) -# Movement.turn_degrees(90, math.pi * 2) -# time.sleep(1) -# -# Movement.drive_distance(0.5, 0.5) -# time.sleep(1) -# Movement.turn_degrees(90, math.pi * 2) -# time.sleep(1) - -# import time -# -# from compLib.IRSensor import IRSensor -# from compLib.Motor import Motor -# -# IRSensor.enable() -# -# DRIVE_SPEED = 2.0 -# COLOR_BREAK = 900 -# KP = 0.25 -# KD = 0.0 -# -# -# def drive(leftSpeed, rightSpeed): -# Motor.speed(0, -rightSpeed) -# Motor.power(3, leftSpeed) -# -# -# def follow(sleepTime=0.1): -# lastError = 0 -# sensorsBlack = 0 -# -# while sensorsBlack < 3: -# data = IRSensor.read_all() -# -# sensorsBlack = 0 -# for i in range(len(data)): -# if data[i] > COLOR_BREAK: -# sensorsBlack += 1 -# -# error = lastError -# if data[2] > COLOR_BREAK: -# error = 0 -# elif data[0] > COLOR_BREAK: -# error = -1.5 -# elif data[4] > COLOR_BREAK: -# error = 1.5 -# elif data[1] > COLOR_BREAK: -# error = -1 -# elif data[3] > COLOR_BREAK: -# error = 1 -# elif error == 1.5: -# error = 3 -# elif error == -1.5: -# error = -3 -# -# lastError = error -# -# adjustment = KP * error + KD * (error - lastError) -# leftSpeed = DRIVE_SPEED + adjustment -# rightSpeed = DRIVE_SPEED - adjustment -# -# print(f"{leftSpeed} {rightSpeed} {adjustment} {error}") -# drive(leftSpeed, rightSpeed) -# -# drive(0, 0) -# time.sleep(sleepTime) - - -if __name__ == '__main__': - CompLibClient.use_tcp_socket("dev03.local") - # follow() - main() diff --git a/client/compLib/.gitignore b/compLib/.gitignore similarity index 100% rename from client/compLib/.gitignore rename to compLib/.gitignore diff --git a/client/compLib/Api.py b/compLib/Api.py similarity index 100% rename from client/compLib/Api.py rename to compLib/Api.py diff --git a/client/compLib/Camera.py b/compLib/Camera.py similarity index 100% rename from client/compLib/Camera.py rename to compLib/Camera.py diff --git a/client/compLib/CompLib.proto b/compLib/CompLib.proto similarity index 100% rename from client/compLib/CompLib.proto rename to compLib/CompLib.proto diff --git a/client/compLib/CompLibClient.py b/compLib/CompLibClient.py similarity index 100% rename from client/compLib/CompLibClient.py rename to compLib/CompLibClient.py diff --git a/client/compLib/CompLib_pb2.py b/compLib/CompLib_pb2.py similarity index 100% rename from client/compLib/CompLib_pb2.py rename to compLib/CompLib_pb2.py diff --git a/client/compLib/DoubleElimination.py b/compLib/DoubleElimination.py similarity index 100% rename from client/compLib/DoubleElimination.py rename to compLib/DoubleElimination.py diff --git a/client/compLib/Encoder.py b/compLib/Encoder.py similarity index 100% rename from client/compLib/Encoder.py rename to compLib/Encoder.py diff --git a/client/compLib/HealthCheck.py b/compLib/HealthCheck.py similarity index 100% rename from client/compLib/HealthCheck.py rename to compLib/HealthCheck.py diff --git a/client/compLib/IRSensor.py b/compLib/IRSensor.py similarity index 100% rename from client/compLib/IRSensor.py rename to compLib/IRSensor.py diff --git a/client/compLib/Motor.py b/compLib/Motor.py similarity index 100% rename from client/compLib/Motor.py rename to compLib/Motor.py diff --git a/client/compLib/Movement.py b/compLib/Movement.py similarity index 100% rename from client/compLib/Movement.py rename to compLib/Movement.py diff --git a/client/compLib/Seeding.py b/compLib/Seeding.py similarity index 100% rename from client/compLib/Seeding.py rename to compLib/Seeding.py diff --git a/client/compLib/__init__.py b/compLib/__init__.py similarity index 100% rename from client/compLib/__init__.py rename to compLib/__init__.py diff --git a/client/docs/.gitignore b/docs/.gitignore similarity index 100% rename from client/docs/.gitignore rename to docs/.gitignore diff --git a/client/docs/Makefile b/docs/Makefile similarity index 100% rename from client/docs/Makefile rename to docs/Makefile diff --git a/client/docs/make.bat b/docs/make.bat similarity index 100% rename from client/docs/make.bat rename to docs/make.bat diff --git a/client/docs/source/_static/.gitkeep b/docs/source/_static/.gitkeep similarity index 100% rename from client/docs/source/_static/.gitkeep rename to docs/source/_static/.gitkeep diff --git a/client/docs/source/conf.py b/docs/source/conf.py similarity index 100% rename from client/docs/source/conf.py rename to docs/source/conf.py diff --git a/client/docs/source/faq.rst b/docs/source/faq.rst similarity index 100% rename from client/docs/source/faq.rst rename to docs/source/faq.rst diff --git a/client/docs/source/gettingStarted/codeServer.rst b/docs/source/gettingStarted/codeServer.rst similarity index 100% rename from client/docs/source/gettingStarted/codeServer.rst rename to docs/source/gettingStarted/codeServer.rst diff --git a/client/docs/source/gettingStarted/firstProgram.rst b/docs/source/gettingStarted/firstProgram.rst similarity index 100% rename from client/docs/source/gettingStarted/firstProgram.rst rename to docs/source/gettingStarted/firstProgram.rst diff --git a/client/docs/source/gettingStarted/images/01_boot.png b/docs/source/gettingStarted/images/01_boot.png similarity index 100% rename from client/docs/source/gettingStarted/images/01_boot.png rename to docs/source/gettingStarted/images/01_boot.png diff --git a/client/docs/source/gettingStarted/images/02_psk.png b/docs/source/gettingStarted/images/02_psk.png similarity index 100% rename from client/docs/source/gettingStarted/images/02_psk.png rename to docs/source/gettingStarted/images/02_psk.png diff --git a/client/docs/source/gettingStarted/images/03_codeServerFile.png b/docs/source/gettingStarted/images/03_codeServerFile.png similarity index 100% rename from client/docs/source/gettingStarted/images/03_codeServerFile.png rename to docs/source/gettingStarted/images/03_codeServerFile.png diff --git a/client/docs/source/gettingStarted/images/04_codeServerRun.png b/docs/source/gettingStarted/images/04_codeServerRun.png similarity index 100% rename from client/docs/source/gettingStarted/images/04_codeServerRun.png rename to docs/source/gettingStarted/images/04_codeServerRun.png diff --git a/client/docs/source/gettingStarted/images/05_codeServerTerminal.png b/docs/source/gettingStarted/images/05_codeServerTerminal.png similarity index 100% rename from client/docs/source/gettingStarted/images/05_codeServerTerminal.png rename to docs/source/gettingStarted/images/05_codeServerTerminal.png diff --git a/client/docs/source/gettingStarted/images/06_codeServerFolder.png b/docs/source/gettingStarted/images/06_codeServerFolder.png similarity index 100% rename from client/docs/source/gettingStarted/images/06_codeServerFolder.png rename to docs/source/gettingStarted/images/06_codeServerFolder.png diff --git a/client/docs/source/gettingStarted/images/07_irSensor.webp b/docs/source/gettingStarted/images/07_irSensor.webp similarity index 100% rename from client/docs/source/gettingStarted/images/07_irSensor.webp rename to docs/source/gettingStarted/images/07_irSensor.webp diff --git a/client/docs/source/gettingStarted/images/08_notepad.png b/docs/source/gettingStarted/images/08_notepad.png similarity index 100% rename from client/docs/source/gettingStarted/images/08_notepad.png rename to docs/source/gettingStarted/images/08_notepad.png diff --git a/client/docs/source/gettingStarted/images/09_update.png b/docs/source/gettingStarted/images/09_update.png similarity index 100% rename from client/docs/source/gettingStarted/images/09_update.png rename to docs/source/gettingStarted/images/09_update.png diff --git a/client/docs/source/gettingStarted/index.rst b/docs/source/gettingStarted/index.rst similarity index 100% rename from client/docs/source/gettingStarted/index.rst rename to docs/source/gettingStarted/index.rst diff --git a/client/docs/source/gettingStarted/secondProgram.rst b/docs/source/gettingStarted/secondProgram.rst similarity index 100% rename from client/docs/source/gettingStarted/secondProgram.rst rename to docs/source/gettingStarted/secondProgram.rst diff --git a/client/docs/source/gettingStarted/thridProgram.rst b/docs/source/gettingStarted/thridProgram.rst similarity index 100% rename from client/docs/source/gettingStarted/thridProgram.rst rename to docs/source/gettingStarted/thridProgram.rst diff --git a/client/docs/source/gettingStarted/update.rst b/docs/source/gettingStarted/update.rst similarity index 100% rename from client/docs/source/gettingStarted/update.rst rename to docs/source/gettingStarted/update.rst diff --git a/client/docs/source/gettingStarted/wifi.rst b/docs/source/gettingStarted/wifi.rst similarity index 100% rename from client/docs/source/gettingStarted/wifi.rst rename to docs/source/gettingStarted/wifi.rst diff --git a/client/docs/source/images/compair-logo-white.svg b/docs/source/images/compair-logo-white.svg similarity index 100% rename from client/docs/source/images/compair-logo-white.svg rename to docs/source/images/compair-logo-white.svg diff --git a/client/docs/source/index.rst b/docs/source/index.rst similarity index 100% rename from client/docs/source/index.rst rename to docs/source/index.rst diff --git a/client/docs/source/lib/classes/DoubleElimination.rst b/docs/source/lib/classes/DoubleElimination.rst similarity index 100% rename from client/docs/source/lib/classes/DoubleElimination.rst rename to docs/source/lib/classes/DoubleElimination.rst diff --git a/client/docs/source/lib/classes/Encoder.rst b/docs/source/lib/classes/Encoder.rst similarity index 100% rename from client/docs/source/lib/classes/Encoder.rst rename to docs/source/lib/classes/Encoder.rst diff --git a/client/docs/source/lib/classes/IRSensor.rst b/docs/source/lib/classes/IRSensor.rst similarity index 100% rename from client/docs/source/lib/classes/IRSensor.rst rename to docs/source/lib/classes/IRSensor.rst diff --git a/client/docs/source/lib/classes/Motor.rst b/docs/source/lib/classes/Motor.rst similarity index 100% rename from client/docs/source/lib/classes/Motor.rst rename to docs/source/lib/classes/Motor.rst diff --git a/client/docs/source/lib/classes/Opencv.rst b/docs/source/lib/classes/Opencv.rst similarity index 100% rename from client/docs/source/lib/classes/Opencv.rst rename to docs/source/lib/classes/Opencv.rst diff --git a/client/docs/source/lib/classes/Seeding.rst b/docs/source/lib/classes/Seeding.rst similarity index 100% rename from client/docs/source/lib/classes/Seeding.rst rename to docs/source/lib/classes/Seeding.rst diff --git a/client/docs/source/lib/classes/images/chessboard.jpg b/docs/source/lib/classes/images/chessboard.jpg similarity index 100% rename from client/docs/source/lib/classes/images/chessboard.jpg rename to docs/source/lib/classes/images/chessboard.jpg diff --git a/client/docs/source/lib/classes/images/chessboard_detected.jpg b/docs/source/lib/classes/images/chessboard_detected.jpg similarity index 100% rename from client/docs/source/lib/classes/images/chessboard_detected.jpg rename to docs/source/lib/classes/images/chessboard_detected.jpg diff --git a/client/docs/source/lib/classes/images/opencv_http_stream.png b/docs/source/lib/classes/images/opencv_http_stream.png similarity index 100% rename from client/docs/source/lib/classes/images/opencv_http_stream.png rename to docs/source/lib/classes/images/opencv_http_stream.png diff --git a/client/docs/source/lib/classes/images/opencv_processed.png b/docs/source/lib/classes/images/opencv_processed.png similarity index 100% rename from client/docs/source/lib/classes/images/opencv_processed.png rename to docs/source/lib/classes/images/opencv_processed.png diff --git a/client/docs/source/lib/index.rst b/docs/source/lib/index.rst similarity index 100% rename from client/docs/source/lib/index.rst rename to docs/source/lib/index.rst diff --git a/client/docs/source/other/hardware.rst b/docs/source/other/hardware.rst similarity index 100% rename from client/docs/source/other/hardware.rst rename to docs/source/other/hardware.rst diff --git a/client/docs/source/other/images/Mainboard.png b/docs/source/other/images/Mainboard.png similarity index 100% rename from client/docs/source/other/images/Mainboard.png rename to docs/source/other/images/Mainboard.png diff --git a/client/docs/source/other/images/Sensorarray.png b/docs/source/other/images/Sensorarray.png similarity index 100% rename from client/docs/source/other/images/Sensorarray.png rename to docs/source/other/images/Sensorarray.png diff --git a/client/docs/source/other/usage.rst b/docs/source/other/usage.rst similarity index 100% rename from client/docs/source/other/usage.rst rename to docs/source/other/usage.rst diff --git a/client/docs/source/software/installation.rst b/docs/source/software/installation.rst similarity index 100% rename from client/docs/source/software/installation.rst rename to docs/source/software/installation.rst diff --git a/client/motorLinearityTest.py b/motorLinearityTest.py similarity index 100% rename from client/motorLinearityTest.py rename to motorLinearityTest.py diff --git a/client/postinstall.sh b/postinstall.sh similarity index 100% rename from client/postinstall.sh rename to postinstall.sh diff --git a/client/setup.py b/setup.py similarity index 100% rename from client/setup.py rename to setup.py diff --git a/client/sphinx_to_github.sh b/sphinx_to_github.sh similarity index 100% rename from client/sphinx_to_github.sh rename to sphinx_to_github.sh diff --git a/client/test.py b/test.py similarity index 100% rename from client/test.py rename to test.py