remo mods for Scuttle Robot

adafruit_pwm_scuttle.py

# This is the SCUTTLE replacement for the adafruit_pwm.py file
# Use this program to overwrite the original adafruit_pwm.py contents.

def setup(robot_config): # setup is a required function for the selected hardware program
    return

    # A function for sending command to a file in the temporary folder 
def tmpFile(value): # this function takes a 2-element array called val
    txt = open("/tmp/commandFile.txt",'w+') # file with specified name
    txt.write(str(value))
    txt.close()
    
    # "move" is the name of the function in the original adafruit_pwm.py program
def move(args):
    command = args['button']['command']
    tmpFile(command)

remoDriver.py

# remoDriver.py
# run this program with python3 while the remo controller is operating

# Import external libraries
import time # only necessary if running this program as a loop
import numpy # for clip function
import os.path  # for checking file paths
from os import path # for checking file paths

# import local programs
import L2_inverse_kinematics as inv
import L2_speed_control as sc

filename = "/tmp/commandFile.txt"   # File path we will send our battery voltage data to.

while not path.exists(filename):  # wait to see that the command file exists
    time.sleep(0.25)
    pass

while path.exists(filename):    # Infinite loop, after the file is made
    file = open(filename,"r")          # Open command file.
    cmd = file.read()             # Read data in file and store in cmd

    if len(cmd) > 0:              # Makes sure the command holds a value
        if cmd == "w":
            targets = np.array([0.3,0]) # assign targets to x-dot, theta-dot (fwd)
        elif cmd == "s":
            targets = np.array([-0.3,0]) # assign targets to x-dot, theta-dot (reverse)
        elif cmd == "a":
            targets = np.array([0,1]) # assign targets to x-dot, theta-dot (left)
        elif cmd == "d":
            targets = np.array([0,-1]) # assign targets to x-dot, theta-dot (right)
    else:                               # If file is empty move on.
        Targets = np.array([0,0]) # [xd, td]
        pass
        
    pdTargets = inv.convert(targets) # convert [xd,td] to [pdl,pdr]
    #sc.drive(pdTargets) # send the pd targets to the speed controller
    print("pd targets:", pdTargets)
    time.sleep(0.2)
    txt = open("/tmp/commandFile.txt",'w+') # file with specified name
    txt.write(str(0))
    txt.close()