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 
 import random
 4 
 import random
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 from machine import Timer
 5 
 from machine import Timer
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6
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-max_laser_power = 0.15
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+max_laser_power = 0.1
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8
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 limits = [
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 limits = [
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     # pan_min, pan_max, tilt_min, tilt_max, name
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     # pan_min, pan_max, tilt_min, tilt_max, name
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     (84, 120, 53, 76, 'office desk, front right')
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     (84, 120, 53, 76, 'office desk, front right')
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 ]
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 ]
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13
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+timerRunning = False
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+timerData = None
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+outlineIndex = 0
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+
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 def buildPage(header, footer):
 18 
 def buildPage(header, footer):
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     html = """<!DOCTYPE html>
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     html = """<!DOCTYPE html>
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     <html>
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     <html>
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                 </select><br>
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                 </select><br>
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                 Steps: <input type="text" name="steps" value="100"><br>
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                 Steps: <input type="text" name="steps" value="100"><br>
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                 Duration: <input type="text" name="duration" value="1000">ms<br>
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                 Duration: <input type="text" name="duration" value="1000">ms<br>
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-                <input type="submit" name="s" value="Start Program">
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+                <input type="submit" name="s" value="Random">
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+                <input type="submit" name="s" value="Outline"><br>
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+                Status: %s
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             </form>
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             </form>
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             %s
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             %s
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         </body>
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         </body>
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         sl += '<option value="' + val + '">' + name + '</option>'
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         sl += '<option value="' + val + '">' + name + '</option>'
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     sl += '<option value="">None</option>'
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     sl += '<option value="">None</option>'
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68
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-    page = html % (header, int(max_laser_power * 100.0), sl, footer)
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+    status = "No program running"
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+    if timerRunning:
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+        status = "Program in progress"
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+
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+    page = html % (header, int(max_laser_power * 100.0), sl, status, footer)
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     return page
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     return page
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75
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 random.seed()
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 random.seed()
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     t.angle(t.tilt, tilt)
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     t.angle(t.tilt, tilt)
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     t.angle(t.pan, pan)
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     t.angle(t.pan, pan)
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157
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-timerRunning = False
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-timerData = None
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+def doOutline(pan_min, pan_max, tilt_min, tilt_max, dur):
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+    global outlineIndex
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+    points = [
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+        (pan_min, tilt_min),
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+        (pan_min, tilt_max),
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+        (pan_max, tilt_max),
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+        (pan_max, tilt_min)
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+    ]
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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))
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+    t.angle(t.tilt, tilt)
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+    t.angle(t.pan, pan)
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171
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 def timerCallback(unused):
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 def timerCallback(unused):
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     global timerRunning, timerData
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     global timerRunning, timerData
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     if not timerRunning:
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     if not timerRunning:
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         return
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         return
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-    pan_min, pan_max, tilt_min, tilt_max, steps, duration = timerData
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+    pan_min, pan_max, tilt_min, tilt_max, steps, duration, outline = timerData
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179
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     dur = duration
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     dur = duration
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-    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)
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     else:
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     else:
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-        dur = random.randint(200, duration)
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+        if dur < 200:
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+            dur = 500
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     if steps > 0:
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     if steps > 0:
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         steps -= 1
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         steps -= 1
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-        doMove(pan_min, pan_max, tilt_min, tilt_max, dur)
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+        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)
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         tim = Timer(period = dur, mode=Timer.ONE_SHOT, callback = timerCallback)
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         tim = Timer(period = dur, mode=Timer.ONE_SHOT, callback = timerCallback)
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     else:
 197 
     else:
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         timerRunning = False
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         timerRunning = False
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         t.laser(0.0)
 199 
         t.laser(0.0)
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200
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-    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)
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202
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-def startRepeat(pan_min, pan_max, tilt_min, tilt_max, steps, duration):
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+def startRepeat(pan_min, pan_max, tilt_min, tilt_max, steps, duration, outline):
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     global timerRunning, timerData
 204 
     global timerRunning, timerData
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-    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)
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206
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     if not timerRunning:
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     if not timerRunning:
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         timerRunning = True
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         timerRunning = True
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 def repeatCallback(request):
 217 
 def repeatCallback(request):
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     q = request.find("/repeat?")
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     q = request.find("/repeat?")
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-    pl = request.find("limit=")
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-    ps = request.find("steps=")
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-    pd = request.find("duration=")
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-    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))
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+    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)
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+    if (q < 0) or (pl < 0) or (ps < 0) or (pd < 0) or (pp < 0):
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+        print("repeat query error: q={} pl={} ps={} pd={} pp={}".format(q, pl, ps, pd, pp))
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         return buildPage(
 225 
         return buildPage(
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             '<p>Error: no repeat arguments found in URL query string.</p>',
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             '<p>Error: no repeat arguments found in URL query string.</p>',
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             '<p><a href="/">Back to main page</a></p>'
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             '<p><a href="/">Back to main page</a></p>'
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         )
 228 
         )
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229
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-    data = [("limit=", pl), ("steps=", ps), ("duration=", pd)]
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+    data = [("limit=", pl), ("steps=", ps), ("duration=", pd), ("s=", pp)]
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     result = []
 231 
     result = []
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     for s, p in data:
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     for s, p in data:
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+        #print(p)
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         pe = request.find("&", p)
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         pe = request.find("&", p)
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+        #print(pe)
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         if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
 236 
         if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
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             pe = request.find(" HTTP", p)
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             pe = request.find(" HTTP", p)
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+            #print(pe)
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         if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
 239 
         if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
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             print("repeat query error: p={} pe={}".format(p, pe))
 240 
             print("repeat query error: p={} pe={}".format(p, pe))
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             return buildPage(
 241 
             return buildPage(
212 
             )
 244 
             )
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         r = request[p + len(s) : pe]
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         r = request[p + len(s) : pe]
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         result.append(r)
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         result.append(r)
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+        #print()
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-    print("repeat: limit={} steps={} duration={}".format(result[0], result[1], result[2]))
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+    print("repeat: limit={} steps={} duration={} s={}".format(result[0], result[1], result[2], result[3]))
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250
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     if len(result[0]) == 0:
 251 
     if len(result[0]) == 0:
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         stopRepeat()
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         stopRepeat()
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             '<p><a href="/">Back to main page</a></p>'
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             '<p><a href="/">Back to main page</a></p>'
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         )
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         )
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+    outline = False
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+    if result[3].lower() == "outline":
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+        outline = True
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+
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     for pan_min, pan_max, tilt_min, tilt_max, name in limits:
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     for pan_min, pan_max, tilt_min, tilt_max, name in limits:
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         val = name.replace(' ', '_').replace(',', '').lower()
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         val = name.replace(' ', '_').replace(',', '').lower()
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         if result[0] == val:
 264 
         if result[0] == val:
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-            startRepeat(pan_min, pan_max, tilt_min, tilt_max, int(result[1]), int(result[2]))
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+            startRepeat(pan_min, pan_max, tilt_min, tilt_max, int(result[1]), int(result[2]), outline)
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             break
 266 
             break
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267
231 
     return buildPage(
 268 
     return buildPage(

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