Added own measurements for own robot

.gitignore

@@ -108,3 +108,17 @@ tests/
 
 # last position of robot thru terminalControl
 .robotpos.file
+
+# temp data for databaseCreator so it can be run from the last point
+database.temp
+
+# Jupyter notebooks for testing
+*.ipynb
+
+# Files created for own documentation purposes, not ready for public
+Roboter.aux
+Roboter.log
+Roboter.pdf
+Roboter.synctex.gz
+Roboter.tex
+Roboter.toc

RobotLib.py

@@ -31,7 +31,7 @@ class Robot:
             rad = deg * math.pi / 180
             return rad
 
-        def _calc_previous(self):
+        def calc_previous(self):
             if self.previous_servos:
                 self.total_angle_deg = 0
                 for servo in self.previous_servos:
@@ -44,11 +44,12 @@ class Robot:
                 self.total_angle_deg = self.deg
                 if self.delta < 0:
                     self.delta *= -1
+            self.total_angle_rad = self._get_rad(self.total_angle_deg)
 
         def set_angle(self, angle):
             self.deg = angle
             self.rad = self._get_rad(self.deg)
-            self._calc_previous()
+            self.calc_previous()
 
         def _get_angle(self, ms):
             val_min = self.geometry.min
@@ -67,7 +68,7 @@ class Robot:
             self.ms = ms
             self.deg = self._get_angle(self.ms)
             self.rad = self._get_rad(self.deg)
-            self._calc_previous()
+            self.calc_previous()
 
         def get_ms(self, calc=False):
             if calc:
@@ -153,11 +154,14 @@ class Robot:
         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]), -1, float(servos[0]), float(servos[1]),
-                                 float(servos[2]))
-                self.database.append(new)
+                if entry:
+                    coordinates = entry.split(":")[0].split(',')
+                    servos = entry.split(":")[1].split(',')
+                    new = self.Entry(float(coordinates[0]), float(coordinates[1]), -1,
+                                     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):
         self.servo1 = s1
@@ -200,6 +204,8 @@ class Robot:
         return effi
 
     def calculate(self):
+        for servo in [self.servo1, self.servo2, self.servo3]:
+            servo.calc_previous()
         self.x, self.y = self._get_position()
         self.efficency = self._get_efficency()
         self.x = self._round(self.x)

databaseCreatorv2.py

@@ -1,4 +1,5 @@
 import numpy as npy
+import sys
 
 from RobotLib import *
 
@@ -7,20 +8,28 @@ class Looper:
     def __init__(self, Robot):
         self.stepsize = 1
         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):
-        for ang_servo1 in npy.arange(self.robot.servo1.min, self.robot.servo1.max, self.stepsize):
-            self.robot.servo1.set_angle(ang_servo1)
-            for ang_servo2 in npy.arange(self.robot.servo2.min, self.robot.servo2.max, self.stepsize):
-                self.robot.servo2.set_angle(ang_servo2)
-                for ang_servo3 in npy.arange(self.robot.servo3.min, self.robot.servo3.max, self.stepsize):
-                    self.robot.servo3.set_angle(ang_servo3)
-                    self.robot.calculate()
-                    self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y,
-                                                                        self.robot.efficency,
-                                                                        self.robot.servo1, self.robot.servo2,
-                                                                        self.robot.servo3))
-        print("A database with {} entries has been created.".format(len(self.robot.data.database)))
+        try:
+            for ang_servo1 in npy.arange(self.servo1_start, self.robot.servo1.max, self.stepsize):
+                self.robot.servo1.set_angle(ang_servo1)
+                for ang_servo2 in npy.arange(self.servo2_start, self.robot.servo2.max, self.stepsize):
+                    self.robot.servo2.set_angle(ang_servo2)
+                    for ang_servo3 in npy.arange(self.servo3_start, self.robot.servo3.max, self.stepsize):
+                        self.robot.servo3.set_angle(ang_servo3)
+                        self.robot.calculate()
+                        self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y,
+                                                                            self.robot.efficency,
+                                                                            self.robot.servo1, self.robot.servo2,
+                                                                            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):
         file = open("database.data", 'w')
@@ -29,6 +38,23 @@ class Looper:
         file.close()
         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)),
              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])
 
 looper = Looper(test)
+# looper.deserialize('database.temp')
 looper.run()
 looper.export()
 print("finished")