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added break for databaseCreator

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Lars Bogner
2019-05-25 13:27:41 +02:00
parent 7001f9063f
commit 56160fa519
3 changed files with 50 additions and 17 deletions
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.gitignore
+3
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@@ -108,3 +108,6 @@ tests/
# last position of robot thru terminalControl # last position of robot thru terminalControl
.robotpos.file .robotpos.file
# temp data for databaseCreator so it can be run from the last point
database.temp
RobotLib.py
+8 -5
View File
@@ -154,11 +154,14 @@ class Robot:
def deserialize(self, string): def deserialize(self, string):
entries = string.split("\n") entries = string.split("\n")
for entry in entries: for entry in entries:
coordinates = entry.split(":")[0] if entry:
servos = entry.split(":")[1] coordinates = entry.split(":")[0].split(',')
new = self.Entry(float(coordinates[0]), float(coordinates[1]), -1, float(servos[0]), float(servos[1]), servos = entry.split(":")[1].split(',')
float(servos[2])) new = self.Entry(float(coordinates[0]), float(coordinates[1]), -1,
self.database.append(new) Robot.Servo(float(servos[0]), Robot.Servo.Geometry(0, 0, 0)),
Robot.Servo(float(servos[1]), Robot.Servo.Geometry(0, 0, 0)),
Robot.Servo(float(servos[2]), Robot.Servo.Geometry(0, 0, 0)))
self.database.append(new)
def __init__(self, s1, s2, s3, coordinatessystem): def __init__(self, s1, s2, s3, coordinatessystem):
self.servo1 = s1 self.servo1 = s1
databaseCreatorv2.py
+39 -12
View File
@@ -1,4 +1,5 @@
import numpy as npy import numpy as npy
import sys
from RobotLib import * from RobotLib import *
@@ -7,20 +8,28 @@ class Looper:
def __init__(self, Robot): def __init__(self, Robot):
self.stepsize = 1 self.stepsize = 1
self.robot = Robot self.robot = Robot
self.servo1_start = self.robot.servo1.min
self.servo2_start = self.robot.servo2.min
self.servo3_start = self.robot.servo3.min
def run(self): def run(self):
for ang_servo1 in npy.arange(self.robot.servo1.min, self.robot.servo1.max, self.stepsize): try:
self.robot.servo1.set_angle(ang_servo1) for ang_servo1 in npy.arange(self.servo1_start, self.robot.servo1.max, self.stepsize):
for ang_servo2 in npy.arange(self.robot.servo2.min, self.robot.servo2.max, self.stepsize): self.robot.servo1.set_angle(ang_servo1)
self.robot.servo2.set_angle(ang_servo2) for ang_servo2 in npy.arange(self.servo2_start, self.robot.servo2.max, self.stepsize):
for ang_servo3 in npy.arange(self.robot.servo3.min, self.robot.servo3.max, self.stepsize): self.robot.servo2.set_angle(ang_servo2)
self.robot.servo3.set_angle(ang_servo3) for ang_servo3 in npy.arange(self.servo3_start, self.robot.servo3.max, self.stepsize):
self.robot.calculate() self.robot.servo3.set_angle(ang_servo3)
self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y, self.robot.calculate()
self.robot.efficency, self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y,
self.robot.servo1, self.robot.servo2, self.robot.efficency,
self.robot.servo3)) self.robot.servo1, self.robot.servo2,
print("A database with {} entries has been created.".format(len(self.robot.data.database))) self.robot.servo3))
print("A database with {} entries has been created.".format(len(self.robot.data.database)))
except KeyboardInterrupt:
self.serialize("database.temp")
print("Serialized")
sys.exit()
def export(self): def export(self):
file = open("database.data", 'w') file = open("database.data", 'w')
@@ -29,6 +38,23 @@ class Looper:
file.close() file.close()
print("Exported") print("Exported")
def serialize(self, filepath):
with open(filepath, 'w') as file:
line = "{},{},{}\n".format(self.robot.servo1.deg, self.robot.servo2.deg, self.robot.servo3.deg)
file.write(line)
file.write(self.robot.data.serialize())
file.flush()
def deserialize(self, filepath):
with open(filepath, 'r') as file:
line = file.readline()
line = line.split(',')
self.servo1_start = float(line[0])
self.servo2_start = float(line[1])
self.servo3_start = float(line[2])
lines = file.read()
self.robot.data.deserialize(lines)
test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)), test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)), Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
@@ -38,6 +64,7 @@ test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2,
None, [test.servo1], [test.servo1, test.servo2]) None, [test.servo1], [test.servo1, test.servo2])
looper = Looper(test) looper = Looper(test)
# looper.deserialize('database.temp')
looper.run() looper.run()
looper.export() looper.export()
print("finished") print("finished")