X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2009%2Fmicrob_cmd%2Fmicrobcmd.py;h=ee0dbaac90eb0d88ef4f2100b738616e2aae445d;hp=508092756bcccfe72779a0fe60179d4289d1c0cc;hb=e0908eab4d4b00cf19083f91a9921b3e8d0cae63;hpb=966d2c97e5fda37297568c5e8ed66271e986bcdd;ds=sidebyside

diff --git a/projects/microb2009/microb_cmd/microbcmd.py b/projects/microb2009/microb_cmd/microbcmd.py
index 5080927..ee0dbaa 100755
--- a/projects/microb2009/microb_cmd/microbcmd.py
+++ b/projects/microb2009/microb_cmd/microbcmd.py
@@ -12,6 +12,7 @@ import numpy
 import shlex
 import time
 import math
+import re
 import warnings
 warnings.filterwarnings("ignore","tempnam",RuntimeWarning, __name__)
 
@@ -899,6 +900,39 @@ class Interp(cmd.Cmd):
             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