separate robot class from followme

2 files changed, 137 insertions, 104 deletions

diff --git a/followme.py b/followme.py
index 5ff0a22..bba9df4 100755
--- a/followme.py
+++ b/followme.py
@@ -201,111 +201,7 @@ class Captura(object):
         self.display.fill((84, 185, 72))
 
 
-class Robot(object):
-
-    def __init__(self):
-        self.z1 = tamanioc[0] / 15.0
-        self.z2 = tamanioc[1] / 3.0
-        self.vel_anterior = (0, 0, 0, 0)
-        self.butia = None
-        self.bobot = None
-        self.bobot_launch()
-
-    def bobot_launch(self):
-
-        print 'Initialising butia...'
-        output = commands.getoutput('ps -ax | grep lua')
-        if 'bobot-server' in output:
-            print 'bobot is alive!'
-        else:
-            try:
-                print 'creating bobot'
-                self.bobot = subprocess.Popen(['./lua', 'bobot-server.lua'], cwd='./lib/butia_support')
-            except:
-                print 'ERROR creating bobot'
-
-        time.sleep(1)
 
-        self.butia = butiaAPI.robot()
-
-        self.modules = self.butia.get_modules_list()
-
-        if (self.modules != []):
-            print self.modules
-        else:
-            print _('Butia robot was not detected')
-
-    def move_robot(self, pos):
-
-        x,y = pos
-
-        vel_actual = (0, 0, 0, 0)
-
-        if (x >= 0) and (x <= (2*self.z1)):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 900, 1, 600)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 900, 1, 900)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 900, 0, 600)
-
-        elif (x > (2*self.z1)) and (x <= (4*self.z1)):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 600, 1, 300)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 600, 1, 600)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 600, 0, 600)
-
-
-        elif (x > (4*self.z1)) and (x <= (6*self.z1)):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 300, 1, 0)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 300, 1, 300)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 300, 0, 0)
-
-        elif (x > 6*self.z1) and (x < 9*self.z1):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 300, 1, 300)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 0, 0, 0)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 300, 0, 300)
-
-
-        elif (x >= (9*self.z1)) and (x < (11*self.z1)):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 0, 1, 300)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 300, 1, 300)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 0, 0, 300)
-
-
-        elif (x >= 11*self.z1) and (x < 13*self.z1):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 300, 1, 600)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 600, 1, 600)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 300, 0, 600)
-
-
-        elif (x >= (13*self.z1)):
-            if (y >= 0) and (y <= self.z2) :
-                vel_actual = (1, 600, 1, 900)
-            elif (y > self.z2) and (y < 2*self.z2):
-                vel_actual = (0, 900, 1, 900)
-            elif (y >= 2*self.z2):
-                vel_actual = (0, 600, 0, 900)
-
-
-        # para evitar envios de velocidad innecesarios al robot
-        if not(vel_actual == self.vel_anterior):
-            self.vel_anterior = vel_actual
-            self.butia.set2MotorSpeed(str(vel_actual[0]), str(vel_actual[1]), str(vel_actual[2]), str(vel_actual[3]))
     
 
 class FollowMe:
diff --git a/robot.py b/robot.py
new file mode 100755
index 0000000..d4a6a61
--- /dev/null
+++ b/robot.py
@@ -0,0 +1,137 @@
+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# FollowMe Butia - Robot
+# Copyright (C) 2010, 2011, 2012
+# This program was created to use with the robot Butia.
+# Butia is a project from Facultad de Ingenieria - Uruguay
+# Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
+# Butia project web site: <http://www.fing.edu.uy/inco/proyectos/butia/>
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+# Contact information:
+# Alan Aguiar <alanjas@gmail.com>
+# Aylen Ricca <ar18_90@hotmail.com>
+# Rodrigo Dearmas <piegrande46@hotmail.com>
+
+
+
+class Robot(object):
+
+    def __init__(self, tamanioc):
+        self.z1 = tamanioc[0] / 15.0
+        self.z2 = tamanioc[1] / 3.0
+        self.vel_anterior = (0, 0, 0, 0)
+        self.butia = None
+        self.bobot = None
+        self.bobot_launch()
+
+    def bobot_launch(self):
+
+        print 'Initialising butia...'
+        output = commands.getoutput('ps -ax | grep lua')
+        if 'bobot-server' in output:
+            print 'bobot is alive!'
+        else:
+            try:
+                print 'creating bobot'
+                self.bobot = subprocess.Popen(['./lua', 'bobot-server.lua'], cwd='./lib/butia_support')
+            except:
+                print 'ERROR creating bobot'
+
+        time.sleep(1)
+
+        self.butia = butiaAPI.robot()
+
+        self.modules = self.butia.get_modules_list()
+
+        if (self.modules != []):
+            print self.modules
+        else:
+            print _('Butia robot was not detected')
+
+    def move_robot(self, pos):
+
+        x,y = pos
+
+        vel_actual = (0, 0, 0, 0)
+
+        if (x >= 0) and (x <= (2*self.z1)):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 900, 1, 600)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 900, 1, 900)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 900, 0, 600)
+
+        elif (x > (2*self.z1)) and (x <= (4*self.z1)):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 600, 1, 300)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 600, 1, 600)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 600, 0, 600)
+
+
+        elif (x > (4*self.z1)) and (x <= (6*self.z1)):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 300, 1, 0)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 300, 1, 300)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 300, 0, 0)
+
+        elif (x > 6*self.z1) and (x < 9*self.z1):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 300, 1, 300)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 0, 0, 0)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 300, 0, 300)
+
+
+        elif (x >= (9*self.z1)) and (x < (11*self.z1)):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 0, 1, 300)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 300, 1, 300)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 0, 0, 300)
+
+
+        elif (x >= 11*self.z1) and (x < 13*self.z1):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 300, 1, 600)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 600, 1, 600)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 300, 0, 600)
+
+
+        elif (x >= (13*self.z1)):
+            if (y >= 0) and (y <= self.z2) :
+                vel_actual = (1, 600, 1, 900)
+            elif (y > self.z2) and (y < 2*self.z2):
+                vel_actual = (0, 900, 1, 900)
+            elif (y >= 2*self.z2):
+                vel_actual = (0, 600, 0, 900)
+
+
+        # para evitar envios de velocidad innecesarios al robot
+        if not(vel_actual == self.vel_anterior):
+            self.vel_anterior = vel_actual
+            self.butia.set2MotorSpeed(str(vel_actual[0]), str(vel_actual[1]), str(vel_actual[2]), str(vel_actual[3]))
+
+