import shlex
import time
import math
+import re
import warnings
warnings.filterwarnings("ignore","tempnam",RuntimeWarning, __name__)
time.sleep(1)
self.ser.write("pwm s3(3C) 250\n")
+ def do_circle(self, arg):
+ arg = re.sub(" *", " ", arg)
+ arg = arg.strip()
+ arg = arg.split(" ")
+ if len(arg)!=4:
+ print "radius coef dspeed aspeed"
+ return
+ r = int(arg[0])
+ c = float(arg[1])
+ dspeed = int(arg[2])
+ aspeed = int(arg[3])
+
+ self.ser.write("event cs on\n")
+ time.sleep(0.3)
+
+ self.ser.write("traj_speed distance %d\n"%dspeed)
+ time.sleep(0.3)
+ self.ser.write("traj_speed angle %d\n"%aspeed)
+ time.sleep(0.3)
+
+ self.ser.write("goto d_rel 300\n")
+ time.sleep(3)
+
+ self.ser.write("position reset\n")
+ time.sleep(0.3)
+ self.ser.write("circle_coef set %f\n"%c)
+ time.sleep(0.3)
+
+ self.ser.write("goto circle_rel 700 460 %d 360\n"%r)
+ self.ser.flushInput()
+ time.sleep(0.3)
+
+
if __name__ == "__main__":
try:
import readline,atexit