Lacking files added

Lasers_und_stuff/Cannon.py

@@ -0,0 +1,115 @@
+'''
+Created on Nov 11, 2012
+
+@author: attero
+'''
+import serial
+import glob
+from math import ceil
+
+class CannonController :
+    def __init__(self):
+        print("cannon controller started")
+        self.position = [0, 0]
+        self.fired = False
+        self.laser = False
+        ports = glob.glob("/dev/ttyACM*")
+        
+        if(len(ports) == 1):
+            self.ser = serial.Serial(ports[0], 115200, timeout=1)
+            self.connected_to_serial = True
+        else:
+            self.ser = False
+            self.connected_to_serial = False
+            if len(ports) > 1 :
+                raise "To many devices to handle"
+            elif len(ports) == 0 :
+                print "No device is connected"
+            
+    def set_position(self, point):
+        self.position = point
+            
+    def fire(self):
+        self.fired = True
+        
+    def enable_laser(self):
+        self.laser = True
+        
+    def disable_laser(self):
+        self.laser = False
+        
+    def move_left(self, change):
+        if(self.position[0] >= change):
+            self.position[0] -= change  
+            
+    def move_right(self, change):
+        if(self.position[0] < 255 - change):
+            self.position[0] += change 
+            
+    def move_up(self, change):
+        if(self.position[1] < 255 - change):
+            self.position[1] += change
+            
+    def move_down(self, change):
+        if(self.position[1] >= change):
+            self.position[1] -= change
+            
+    def check_validity_of_data(self):
+        if(abs(self.position[0]) > 255):
+            return False
+        if (abs(self.position[1]) > 255):
+            return False
+        return True
+    
+    def get_data(self):
+        if self.check_validity_of_data():
+            data = []
+            data.extend(self.position)
+            if(self.fired):
+                data.append(255)
+            else:
+                data.append(0)
+            if(self.laser):
+                data.append(255)
+            else:
+                data.append(0)
+            return data
+        else:
+            return [0, 0, 0, 0]
+        
+    def get_data_to_send(self):
+        data = self.get_data()
+        return [chr(x) for x in data]
+    
+    def send_data(self):
+        if(self.connected_to_serial): 
+            data = self.get_data_to_send()
+            self.ser.write('a')
+            self.ser.write(data[0])
+            print "wrote %i" % ord(data[0])
+            self.ser.write('b')
+            self.ser.write(data[1])
+            self.ser.write('c')
+            self.ser.write(data[2])
+            self.ser.write('d')
+            self.ser.write(data[3])
+        else:
+            print "Cannot send data, not connected..."
+        
+class Gunpoint :
+    def __init__(self, point1, point2, point3):
+        self.vertical_angle = point3[1] - point1[1]
+        self.horizontal_angle = point2[0] - point1[0]
+        self.beginnig_horizontal = point1[0]
+        self.beginnig_vertical = point1[1]
+        
+    def calibrate(self, point1, point2, point3):
+        self.vertical_angle = point3[1] - point1[1]
+        self.horizontal_angle = point2[0] - point1[0]
+        self.beginnig_horizontal = point1[0]
+        self.beginnig_vertical = point1[1]
+        
+    def aim(self, point):
+        horizontal = ceil(self.beginnig_horizontal + self.horizontal_angle*point[0])
+        vertical = ceil(self.beginnig_vertical + self.vertical_angle*point[1])
+        return [horizontal, vertical]