()
| 127 | gpg.stop() |
| 128 | |
| 129 | def Main(): |
| 130 | |
| 131 | drawLogo() |
| 132 | drawDescription() |
| 133 | drawMenu() |
| 134 | |
| 135 | refresh_rate = 20.0 |
| 136 | period = 1.0 / refresh_rate |
| 137 | |
| 138 | controlThread = Thread(target = controller) |
| 139 | controlThread.start() |
| 140 | |
| 141 | global stopper, gpg, lf, stepSize, loopFreq, motorSpeed, leftMotorSpeed, rightMotorSpeed, stopMotors, Kp, Ki, Kd |
| 142 | global integralArea |
| 143 | with Input(keynames = "curtsies", sigint_event = True) as input_generator: |
| 144 | while True: |
| 145 | # if nothing is captured in [period] seconds |
| 146 | # then send() function returns None |
| 147 | key = input_generator.send(period) |
| 148 | |
| 149 | if key is None: |
| 150 | continue |
| 151 | |
| 152 | if stopper.is_set(): |
| 153 | # exit |
| 154 | gpg.stop() |
| 155 | break |
| 156 | if key == "<ESC>": |
| 157 | # exit |
| 158 | stopper.set() |
| 159 | break |
| 160 | if key == "x": |
| 161 | stopMotors = False |
| 162 | if key == "<SPACE>": |
| 163 | stopMotors = True |
| 164 | sleep(0.1) |
| 165 | gpg.stop() |
| 166 | if key == "1": |
| 167 | loopFreq += 1.0 |
| 168 | if key == "2": |
| 169 | loopFreq -= 1.0 |
| 170 | if key == "3": |
| 171 | motorSpeed += 1 |
| 172 | if key == "4": |
| 173 | motorSpeed -= 1 |
| 174 | if key == "u": |
| 175 | Kp += 5.0 |
| 176 | if key == "j": |
| 177 | Ki += 0.001 |
| 178 | if key == "n": |
| 179 | Kd += 100.0 |
| 180 | if key == "i": |
| 181 | Kp -= 5.0 |
| 182 | if key == "k": |
| 183 | Ki -= 0.001 |
| 184 | if key == "m": |
| 185 | Kd -= 100.0 |
| 186 | if key == "r": |
no test coverage detected