90 lines
2.6 KiB
Python
90 lines
2.6 KiB
Python
SOCKET_PATH = "/tmp/compLib"
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# def send(data, size):
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# with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
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# sock.connect(SOCKET_PATH)
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# sock.sendall(size.to_bytes(1, byteorder='big'))
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# sock.sendall(data)
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#
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# response_size_bytes = sock.recv(1)
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# response_size = int.from_bytes(response_size_bytes, byteorder="big")
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# # print(f"Response size: {response_size}")
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#
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# response_bytes = sock.recv(response_size)
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# generic_response = CompLib_pb2.GenericResponse()
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#
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# generic_response.ParseFromString(response_bytes)
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# # print(f"Response: {generic_response}")
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#
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# # reponseBytes =
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def main():
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# encoder_read_positions_request = CompLib_pb2.EncoderReadPositionsRequest()
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# # readSensorsRequest.header = CompLib_pb2.Header()
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# encoder_read_positions_request.header.message_type = encoder_read_positions_request.DESCRIPTOR.full_name
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#
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# start_time = time.time()
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# for i in range(100000):
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# send(encoder_read_positions_request.SerializeToString(), encoder_read_positions_request.ByteSize())
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# print("--- %s seconds ---" % (time.time() - start_time))
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# from compLib.IRSensor import IRSensor
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# IRSensor.read_all()
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#
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# from compLib.Encoder import Encoder
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# print(Encoder.read_all_positions())
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# print(Encoder.read_all_velocities())
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# from compLib.Motor import Motor
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# Motor.speed(0, 50)
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# Motor.speed(3, -50)
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#
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# import time
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# time.sleep(2)
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#
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# Motor.speed(0, 0)
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# Motor.speed(3, -0)
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# Motor.power(0, 0)
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# Motor.power(3, 0)
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# import math
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# from compLib.Movement import Movement
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# Movement.turn_degrees(90, math.pi * 2)
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# Movement.turn_degrees(-90, math.pi * 2)
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#
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# Movement.turn_degrees(90, math.pi * 2)
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# Movement.turn_degrees(90, -math.pi * 2)
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#
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# Movement.turn_degrees(90, math.pi * 2)
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# Movement.turn_degrees(-90, -math.pi * 2)
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# from compLib.Movement import Movement
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# Movement.drive_distance(0.1, 0.5)
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# Movement.drive_distance(-0.1, 0.5)
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#
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# Movement.drive_distance(0.1, 0.5)
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# Movement.drive_distance(0.1, -0.5)
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#
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# Movement.drive_distance(0.1, 0.5)
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# Movement.drive_distance(-0.1, -0.5)
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from compLib.Movement import Movement
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import math
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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Movement.drive_distance(0.5, 0.5)
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Movement.turn_degrees(90, math.pi * 2)
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if __name__ == '__main__':
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main()
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