Move client foler

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

client/dev01.py

@@ -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()

client/dev03.py

@@ -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()

client/lf.py

@@ -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()

client/main.py

@@ -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()