Subject:
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Re: CyberMaster online
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 10 Nov 2000 07:29:36 GMT
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Viewed:
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1766 times
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Ok, here's the full code up to now. I'm afraid there are no comments yet and
please bear in mind that it has been programmed on a Linux machine. If you want
to use it, change the pointer to your python interpreter and the name of your
serial port (in init).
The functions get_opcode en write_opcode are used to remember what the last
opcode was, so that it's equivalent can be used (RCX remembers last opcode and
refuses to carry it out when retransmitted).
Upload_datalog is still a work in progress....
#!/usr/local/bin/python
import os, FCNTL, fcntl, TERMIOS, termios, sys, string
class rcx_brick :
def get_opcode(self) :
opcode = ''
try :
fd = open('opcode', 'r')
opcode = fd.read()
fd.close()
except IOError :
print 'No previous opcode available.'
return opcode
def write_opcode(self, opcode) :
try :
fd = open('opcode', 'w')
fd.write(opcode)
fd.close()
except IOError :
print 'Problem writing opcode.'
def send_alive(self) :
o = self.get_opcode()
if o == '0x10' :
self.send_bytes(0x18, None)
else :
self.send_bytes(0x10, None)
def power_off(self) :
o = self.get_opcode()
if o == '0x60' :
self.send_bytes(0x68, None)
else :
self.send_bytes(0x60, None)
def get_battery(self) :
o = self.get_opcode()
if o == '0x30' :
rcv = self.send_bytes(0x38, None)
else :
rcv = self.send_bytes(0x30, None)
low = hex(ord(rcv[14]))
high = hex(ord(rcv[12]))
lvl = '0x' + low[2:4] + high[2:4]
print "Battery level : " + str(string.atoi(str(lvl), 0)) + " MilliVolts"
def set_program(self, prg_nr) :
o = self.get_opcode()
if o == '0x91' :
self.send_bytes(0x99, prg_nr)
else :
self.send_bytes(0x91, prg_nr)
def send_message(self, msg) :
self.send_bytes(0xf7, msg)
def clear_message(self) :
self.send_bytes(0x90, None)
def play_sound(self, snd) :
o = self.get_opcode()
if o == '0x51' :
self.send_bytes(0x59, snd)
else :
self.send_bytes(0x51, snd)
def upload_datalog(self, bnds) :
o = self.get_opcode()
if o == '0xa4' :
rcv = self.send_bytes(0xac, bnds)
else :
rcv = self.send_bytes(0xa4, bnds)
for x in rcv :
print hex(ord(x))
def set_display(self, dsply) :
o = self.get_opcode()
if o == '0x33' :
self.send_bytes(0x3b, dsply)
else :
self.send_bytes(0x33, dsply)
def rcx_init(self) :
portName = '/dev/ttyS1'
try :
fd = os.open(portName, FCNTL. O_RDWR)
except os.error :
print "Can't open " + portName
sys.exit()
"""sts = termios.tcgetattr(fd)
sts[0] = 0
sts[1] = 4
sts[2] = 4027
sts[3] = 4080
sts[4] = TERMIOS.B2400
sts[5] = TERMIOS.B2400
try:
termios.tcsetattr(fd, TERMIOS.TCSANOW, sts)
except IOError :
print 'Could not set attributes.'
sys.exit()"""
return fd
def send_bytes(self, opcode, params) :
self.write_opcode(hex(opcode))
sum = (opcode & 0xff)
fd = self.rcx_init()
os.write(fd, chr(0x55))
os.write(fd,chr(0xff))
os.write(fd, chr(0x00))
os.write(fd, chr(opcode))
os.write(fd, chr(~opcode & 0xff))
if params != None :
for y in params :
sum = sum + (y & 0xff)
os.write(fd, chr(y))
os.write(fd, chr(~y & 0xff))
os.write(fd, chr(sum))
os.write(fd, chr(~sum & 0xff))
rcv = os.read(fd, 150)
rcv2 = os.read(fd, 150)
#rcv3 = os.read(fd, 50)
os.close(fd)
return rcv + rcv2 #+ rcv3
x = rcx_brick()
#params = [1,0,3,0]
#params = [7]
#x.set_display(params)
#x.send_message(params)
#x.clear_message()
#x.set_program(params)
#x.upload_datalog(params)
#x.power_off()
#x.play_sound(params)
#x.send_alive()
x.get_battery()
Harald Maehrer wrote:
> Why not post your python code to this ng.
>
> I'm in a heavy learning process on python right now and i thought of
> doing something similar.
>
> It would mean a great help for me.
>
> Thx Harry
>
> On Wed, 8 Nov 2000 08:37:25 GMT, Philippe Possemiers
> <philippe.possemiers@the-ecorp.com> wrote:
>
> > I've made a module in python which does essentially the same as send.c and
> > which can easily be extended with more functionality. At this moment, the
> > main functionality which is lacking is the upload of programs.
> > If you're interested, I can mail it to you and you could use that to connect
> > to your website instead of Perl.
> >
> > Stefan Seiz wrote:
> >
> > > I made an attempt to put a CyberMaster online on my WebTruck site
> > >
> > > Using Perl on Win98 was harder than expected, I still am not able to read
> > > from the CyberMaster.
> > > I used RCXCC and NQC to write a small proggy
> > > for the cybermaster, and control it using a Perl Web Server.
> > >
> > > The only software that connects successfully to the cybermaster is
> > > send.c from Kekoa Proudfoot, and that does not work on cygwin.
> > > So if you know a way to communicate with the CyberMaster in Perl,
> > > please contact me.
> > >
> > > Try to drive the Cybermaster here:
> > > http://www.webtruck.org/cm/
> > >
> > > Any suggestions for improvement welcome :-)
> > >
> > > Regards
> > > Stefan Seiz
> >
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Message is in Reply To:
 | | Re: CyberMaster online
|
| Why not post your python code to this ng. I'm in a heavy learning process on python right now and i thought of doing something similar. It would mean a great help for me. Thx Harry (...) (26 years ago, 8-Nov-00, to lugnet.robotics)
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