Cleanup and bug fix

RobotLib.py

@@ -129,7 +129,9 @@ class Robot:
             return None, 0
 
         def get_entry(self, x, y):
-            wanted = self.Entry(x, y, 0, 0, 0, 0)
+            wanted = self.Entry(x, y, 0, Robot.Servo(0, Robot.Servo.Geometry(0, 0, 0)),
+                                Robot.Servo(0, Robot.Servo.Geometry(0, 0, 0)),
+                                Robot.Servo(0, Robot.Servo.Geometry(0, 0, 0)))
             _return, i = self._is_contained(wanted)
             return _return
 
@@ -153,7 +155,7 @@ class Robot:
             for entry in entries:
                 coordinates = entry.split(":")[0]
                 servos = entry.split(":")[1]
-                new = self.Entry(float(coordinates[0]), float(coordinates[1]), float(servos[0]), float(servos[1]),
+                new = self.Entry(float(coordinates[0]), float(coordinates[1]), -1, float(servos[0]), float(servos[1]),
                                  float(servos[2]))
                 self.database.append(new)
 

databaseCreator.py

@@ -1,7 +1,6 @@
 import math
 import csv
 
-
 geometry = {
     "servo0min": 0.5,
     "servo0max": 2.5,
@@ -18,7 +17,7 @@ geometry = {
     "servo4min": 0.5,
     "servo4max": 2.5,
     "servo4mid": 1.5
-    }
+}
 arms = {
     0: 0.84,
     1: 10.26,
@@ -83,7 +82,7 @@ def get_ms(servo, angle):
     val_min = geometry[minimum]
     val_max = geometry[maximum]
     val_mid = geometry[middle]
-    change = 1/90
+    change = 1 / 90
     if val_min > val_max:
         change *= -1
     ms = (angle * change + val_mid)
@@ -138,6 +137,6 @@ for steps in range(1, 0, -0.2):
                 for servo4 in range(pos[4][0], pos[4][1], steps):
                     coordinate = []
                     coordinate.append(get_pos([servo1, servo2, servo3, servo4]))
-                        #coordinate.append(get_efficency([servo0, servo1, servo2, servo3, servo4]))
+                    # coordinate.append(get_efficency([servo0, servo1, servo2, servo3, servo4]))
                     if coordinate in db:
                         if db[coordinate][]

terminalControl.py

@@ -223,9 +223,9 @@ class argvReader:
         :param filepath: filepath of the file to which the position should be written to
         :return: The angles of servo0 to servo3 seperated by a ','
         """
-        with open(filepath, 'w') as file:
+        with open(filepath, 'w') as _file:
             string = "{},{},{},{}".format(servo0actual, joy_it.servo1.deg, joy_it.servo2.deg, joy_it.servo3.deg)
-            file.write(string)
+            _file.write(string)
 
     def deserialize(self, filepath):
         """
@@ -235,8 +235,8 @@ class argvReader:
         """
         global servo0actual
         try:
-            with open(filepath, 'r') as file:
-                string = file.readline()
+            with open(filepath, 'r') as _file:
+                string = _file.readline()
                 string = string.split(",")
                 servo0actual = float(string[0])
                 joy_it.servo1.set_angle(float(string[1]))