From 68119166bb4c716ff29ddb47e03ce65c82433c57 Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Wed, 9 Nov 2022 10:59:31 +0100
Subject: [PATCH] cleaned up and added max-speed function
---
src/Omnibot.jl | 1 +
src/connectomnibot.jl | 2 -
src/getcoordinates.jl | 123 ++++++++++++++++++++----------------------
src/setspeeds.jl | 6 +--
4 files changed, 60 insertions(+), 72 deletions(-)
diff --git a/src/Omnibot.jl b/src/Omnibot.jl
index 92b4229..7c45a50 100644
--- a/src/Omnibot.jl
+++ b/src/Omnibot.jl
@@ -6,6 +6,7 @@ export gety
export getz
export gettheta
+using Sockets
include("connectomnibot.jl")
include("setspeeds.jl")
include("getcoordinates.jl")
diff --git a/src/connectomnibot.jl b/src/connectomnibot.jl
index 9c27ea8..723e2fe 100644
--- a/src/connectomnibot.jl
+++ b/src/connectomnibot.jl
@@ -1,5 +1,3 @@
-using Sockets
-
"""
connectomnibot(ip::String;port::Int=9998)
diff --git a/src/getcoordinates.jl b/src/getcoordinates.jl
index 83d15c2..153c4f4 100644
--- a/src/getcoordinates.jl
+++ b/src/getcoordinates.jl
@@ -1,92 +1,83 @@
-using Sockets
-
"""
-getx(bot::TCPSocket)
+ getx(bot::TCPSocket)
Returns the x-coordinate of the omnibot as `Float64`.
"""
-function getx(bot::TCPSocket;)
-msg = "rx"
-print(bot,msg)
-ret = readline(bot)
-if msg[1] == 'e'
- error(ret)
-end
-try
- return parse(ret,Float64)
-catch e
- if isa(e, ArgumentError)
- throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+function getx(bot::TCPSocket)
+ msg = "rx"
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
+ try
+ return parse(Float64,ret)
+ catch e
+ if isa(e, ArgumentError)
+ throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+ end
end
end
-
-end
"""
-gety(bot::TCPSocket)
+ gety(bot::TCPSocket)
Returns the y-coordinate of the omnibot as `Float64`.
"""
-function gety(bot::TCPSocket;)
-msg = "ry"
-print(bot,msg)
-ret = readline(bot)
-if msg[1] == 'e'
- error(ret)
-end
-try
- return parse(ret,Float64)
-catch e
- if isa(e, ArgumentError)
- throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+function gety(bot::TCPSocket)
+ msg = "ry"
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
+ try
+ return parse(Float64,ret)
+ catch e
+ if isa(e, ArgumentError)
+ throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+ end
end
-end
-
-
end
"""
-getz(bot::TCPSocket)
+ getz(bot::TCPSocket)
Returns the z-coordinate of the omnibot as `Float64`.
"""
-function getz(bot::TCPSocket;)
-msg = "rz"
-print(bot,msg)
-ret = readline(bot)
-if msg[1] == 'e'
- error(ret)
-end
-try
- return parse(ret,Float64)
-catch e
- if isa(e, ArgumentError)
- throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+function getz(bot::TCPSocket)
+ msg = "rz"
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
+ try
+ return parse(Float64,ret)
+ catch e
+ if isa(e, ArgumentError)
+ throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+ end
end
-end
-
-
end
"""
-gettheta(bot::TCPSocket)
+ getmaxspeed(bot::TCPSocket)
-Returns the ``θ``-coordinate of the omnibot as `Float64`.
+Returns the max servo set-point speed for the omnibot as `Int`.
"""
-function gettheta(bot::TCPSocket;)
-msg = "rtheta"
-print(bot,msg)
-ret = readline(bot)
-if msg[1] == 'e'
- error(ret)
-end
-try
- return parse(ret,Float64)
-catch e
- if isa(e, ArgumentError)
- throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+function getmaxspeed(bot::TCPSocket)
+ msg = "rmaxspeed"
+ print(bot,msg)
+ ret = readline(bot)
+ if msg[1] == 'e'
+ error(ret)
+ end
+ try
+ return parse(Int,ret)
+ catch e
+ if isa(e, ArgumentError)
+ throw(ArgumentError("Received $ret from the bot, which is not a valid float."))
+ end
end
-end
-
-
end
\ No newline at end of file
diff --git a/src/setspeeds.jl b/src/setspeeds.jl
index e1c8486..0ca1053 100644
--- a/src/setspeeds.jl
+++ b/src/setspeeds.jl
@@ -1,7 +1,5 @@
-using Sockets
-
"""
-setspeed(bot::TCPSocket,i::Int,v::Int)
+ setspeed(bot::TCPSocket,i::Int,v::Int)
sets the speed of servo `i` to `v`.
@@ -22,7 +20,7 @@ return ret
end
"""
-setspeeds(bot::TCPSocket,v::Vector{Int})
+ setspeeds(bot::TCPSocket,v::Vector{Int})
Set the speed-setpoint of servos to the values in vector v.
"""
--
GitLab