thomas
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CatToy
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add outline mode

Thomas Buck 1 year ago
parent
2575ee857b
commit
88a7c2b5c2
1 changed files with 58 additions and 21 deletions
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  1. 58
    21
      CatToy.py

+ 58
- 21
CatToy.py View File 

@@ -4,13 +4,17 @@ from toy import Toy
4 4 
 import random
5 5 
 from machine import Timer
6 6
7 
-max_laser_power = 0.15
7 
+max_laser_power = 0.1
8 8
9 9 
 limits = [
10 10 
     # pan_min, pan_max, tilt_min, tilt_max, name
11 11 
     (84, 120, 53, 76, 'office desk, front right')
12 12 
 ]
13 13
14 
+timerRunning = False
15 
+timerData = None
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+outlineIndex = 0
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+
14 18 
 def buildPage(header, footer):
15 19 
     html = """<!DOCTYPE html>
16 20 
     <html>
 
@@ -47,7 +51,9 @@ def buildPage(header, footer):
47 51 
                 </select><br>
48 52 
                 Steps: <input type="text" name="steps" value="100"><br>
49 53 
                 Duration: <input type="text" name="duration" value="1000">ms<br>
50 
-                <input type="submit" name="s" value="Start Program">
54 
+                <input type="submit" name="s" value="Random">
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+                <input type="submit" name="s" value="Outline"><br>
56 
+                Status: %s
51 57 
             </form>
52 58 
             %s
53 59 
         </body>
 
@@ -60,7 +66,11 @@ def buildPage(header, footer):
60 66 
         sl += '<option value="' + val + '">' + name + '</option>'
61 67 
     sl += '<option value="">None</option>'
62 68
63 
-    page = html % (header, int(max_laser_power * 100.0), sl, footer)
69 
+    status = "No program running"
70 
+    if timerRunning:
71 
+        status = "Program in progress"
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+
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+    page = html % (header, int(max_laser_power * 100.0), sl, status, footer)
64 74 
     return page
65 75
66 76 
 random.seed()
 
@@ -145,8 +155,19 @@ def doMove(pan_min, pan_max, tilt_min, tilt_max, dur):
145 155 
     t.angle(t.tilt, tilt)
146 156 
     t.angle(t.pan, pan)
147 157
148 
-timerRunning = False
149 
-timerData = None
158 
+def doOutline(pan_min, pan_max, tilt_min, tilt_max, dur):
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+    global outlineIndex
160 
+    points = [
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+        (pan_min, tilt_min),
162 
+        (pan_min, tilt_max),
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+        (pan_max, tilt_max),
164 
+        (pan_max, tilt_min)
165 
+    ]
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+    outlineIndex = (outlineIndex + 1) % 4
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+    pan, tilt = points[outlineIndex]
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+    print("outline move: tilt={} pan={} duration={}".format(tilt, pan, dur))
169 
+    t.angle(t.tilt, tilt)
170 
+    t.angle(t.pan, pan)
150 171
151 172 
 def timerCallback(unused):
152 173 
     global timerRunning, timerData
 
@@ -154,27 +175,34 @@ def timerCallback(unused):
154 175 
     if not timerRunning:
155 176 
         return
156 177
157 
-    pan_min, pan_max, tilt_min, tilt_max, steps, duration = timerData
178 
+    pan_min, pan_max, tilt_min, tilt_max, steps, duration, outline = timerData
158 179
159 180 
     dur = duration
160 
-    if dur < 200:
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-        dur = random.randint(200, 2000)
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+    if not outline:
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+        if dur < 200:
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+            dur = random.randint(200, 2000)
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+        else:
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+            dur = random.randint(200, duration)
162 186 
     else:
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-        dur = random.randint(200, duration)
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+        if dur < 200:
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+            dur = 500
164 189
165 190 
     if steps > 0:
166 191 
         steps -= 1
167 
-        doMove(pan_min, pan_max, tilt_min, tilt_max, dur)
192 
+        if not outline:
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+            doMove(pan_min, pan_max, tilt_min, tilt_max, dur)
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+        else:
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+            doOutline(pan_min, pan_max, tilt_min, tilt_max, dur)
168 196 
         tim = Timer(period = dur, mode=Timer.ONE_SHOT, callback = timerCallback)
169 197 
     else:
170 198 
         timerRunning = False
171 199 
         t.laser(0.0)
172 200
173 
-    timerData = (pan_min, pan_max, tilt_min, tilt_max, steps, duration)
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+    timerData = (pan_min, pan_max, tilt_min, tilt_max, steps, duration, outline)
174 202
175 
-def startRepeat(pan_min, pan_max, tilt_min, tilt_max, steps, duration):
203 
+def startRepeat(pan_min, pan_max, tilt_min, tilt_max, steps, duration, outline):
176 204 
     global timerRunning, timerData
177 
-    timerData = (pan_min, pan_max, tilt_min, tilt_max, steps, duration)
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+    timerData = (pan_min, pan_max, tilt_min, tilt_max, steps, duration, outline)
178 206
179 207 
     if not timerRunning:
180 208 
         timerRunning = True
 
@@ -188,22 +216,26 @@ def stopRepeat():
188 216
189 217 
 def repeatCallback(request):
190 218 
     q = request.find("/repeat?")
191 
-    pl = request.find("limit=")
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-    ps = request.find("steps=")
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-    pd = request.find("duration=")
194 
-    if (q < 0) or (pl < 0) or (ps < 0) or (pd < 0):
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-        print("repeat query error: q={} pl={} ps={} pd={}".format(q, pl, ps, pd))
219 
+    pl = request.find("limit=", q)
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+    ps = request.find("steps=", pl)
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+    pd = request.find("duration=", ps)
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+    pp = request.find("s=", pd)
223 
+    if (q < 0) or (pl < 0) or (ps < 0) or (pd < 0) or (pp < 0):
224 
+        print("repeat query error: q={} pl={} ps={} pd={} pp={}".format(q, pl, ps, pd, pp))
196 225 
         return buildPage(
197 226 
             '<p>Error: no repeat arguments found in URL query string.</p>',
198 227 
             '<p><a href="/">Back to main page</a></p>'
199 228 
         )
200 229
201 
-    data = [("limit=", pl), ("steps=", ps), ("duration=", pd)]
230 
+    data = [("limit=", pl), ("steps=", ps), ("duration=", pd), ("s=", pp)]
202 231 
     result = []
203 232 
     for s, p in data:
233 
+        #print(p)
204 234 
         pe = request.find("&", p)
235 
+        #print(pe)
205 236 
         if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
206 237 
             pe = request.find(" HTTP", p)
238 
+            #print(pe)
207 239 
         if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
208 240 
             print("repeat query error: p={} pe={}".format(p, pe))
209 241 
             return buildPage(
 
@@ -212,8 +244,9 @@ def repeatCallback(request):
212 244 
             )
213 245 
         r = request[p + len(s) : pe]
214 246 
         result.append(r)
247 
+        #print()
215 248
216 
-    print("repeat: limit={} steps={} duration={}".format(result[0], result[1], result[2]))
249 
+    print("repeat: limit={} steps={} duration={} s={}".format(result[0], result[1], result[2], result[3]))
217 250
218 251 
     if len(result[0]) == 0:
219 252 
         stopRepeat()
 
@@ -222,10 +255,14 @@ def repeatCallback(request):
222 255 
             '<p><a href="/">Back to main page</a></p>'
223 256 
         )
224 257
258 
+    outline = False
259 
+    if result[3].lower() == "outline":
260 
+        outline = True
261 
+
225 262 
     for pan_min, pan_max, tilt_min, tilt_max, name in limits:
226 263 
         val = name.replace(' ', '_').replace(',', '').lower()
227 264 
         if result[0] == val:
228 
-            startRepeat(pan_min, pan_max, tilt_min, tilt_max, int(result[1]), int(result[2]))
265 
+            startRepeat(pan_min, pan_max, tilt_min, tilt_max, int(result[1]), int(result[2]), outline)
229 266 
             break
230 267
231 268 
     return buildPage(

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