Working version of databaseCreator and RobotLib 1.0

Signed-off-by: L. Bogner <lars.bogner@outlook.de>

RobotLib.py

@@ -88,9 +88,9 @@ class Robot:
                 self.x = x
                 self.y = y
                 self.effi = effi
-                self.s1 = s1
-                self.s2 = s2
-                self.s3 = s3
+                self.s1 = s1.deg
+                self.s2 = s2.deg
+                self.s3 = s3.deg
 
             def pos_is_equal_to(self, other_entry):
                 return self.x == other_entry.x and self.y == other_entry.y
@@ -120,6 +120,22 @@ class Robot:
             else:
                 self.database.append(entry)
 
+        def serialize(self):
+            string = ""
+            for entry in self.database:
+                string += "{},{}:{},{},{}\n".format(str(entry.x), str(entry.y), str(entry.s1.deg), str(entry.s2.deg),
+                                                    str(entry.s3.deg))
+            return string
+
+        def deserialize(self, string):
+            entries = string.split("\n")
+            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]),
+                                 float(servos[2]))
+                self.database.append(new)
+
     def __init__(self, s1, s2, s3, coordinatessystem):
         self.servo1 = s1
         self.servo2 = s2

databaseCreatorv2.py

@@ -1,6 +1,7 @@
-from RobotLib import *
 import numpy as npy
 
+from RobotLib import *
+
 
 class Looper:
     def __init__(self, Robot):
@@ -21,6 +22,13 @@ class Looper:
                                                                         self.robot.servo3))
         print("A database with {} entries has been created.".format(len(self.robot.data.database)))
 
+    def export(self):
+        file = open("database.data", 'w')
+        file.write(self.robot.data.serialize())
+        file.flush()
+        file.close()
+        print("Exported")
+
 
 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)),
@@ -31,5 +39,6 @@ test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2,
 
 looper = Looper(test)
 looper.run()
+looper.export()
 print("finished")
 print("test")