From 0442fb0078d41a27acd6b01d08ad5e2270fba905 Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Tue, 1 Nov 2022 13:35:19 +0100
Subject: [PATCH] changed names to improve clarity and following naming
conventions
---
README.md | 35 ++++++++-----------
src/{omnibot_client => omnibot}/__init__.py | 0
.../Dummybot.py => omnibot/dummybot.py} | 4 +--
.../Omnibot.py => omnibot/tcp.py} | 2 +-
.../testcontroller.py} | 4 +--
5 files changed, 20 insertions(+), 25 deletions(-)
rename src/{omnibot_client => omnibot}/__init__.py (100%)
rename src/{omnibot_client/Dummybot.py => omnibot/dummybot.py} (93%)
rename src/{omnibot_client/Omnibot.py => omnibot/tcp.py} (99%)
rename src/{omnibot_client/ControllerTest.py => omnibot/testcontroller.py} (97%)
diff --git a/README.md b/README.md
index 86f5918..ff9549a 100644
--- a/README.md
+++ b/README.md
@@ -1,38 +1,33 @@
-## omnibot_client
+## omnibot.py
## Description
-This is a python package which allows TCP connection with the omnibots at the Department of Automatic Control.
+This is a python package which allows connection (currently only TCP-based) with the omnibots at the Department of Automatic Control.
+
+Note that this package convers the **client side**. For information about setting up the omnibot, see (link here).
## Installation
-On linus:
-`pip install git+https://gitlab.control.lth.se/processes/omnibot/omnibotclient.py`
+On linux:
+`pip install git+https://gitlab.control.lth.se/processes/omnibot/omnibot.py`
## Usage
-Import the omnibot-object with
-`from omnibot_client.Omnibot import OmniBot`
-Use the `with` command to create an omnibot-object, as this will automatically open and close the connection cleanly.
-`with OmniBot("localhost") as bot`
-To e.g. set the reference speed for servo 1 to 100, use
-`bot.set_speed(1,100)`
-To set all servo speeds at once, use
-`bot.set_speeds([100,100,100])`
+Import the connection-object with `from omnibot.tcp import Connection`. Use the `with Connection(HOST) as bot:` command, as this will automatically open and close the connection cleanly. To e.g. set the reference speed for servo 1 to 100, use `bot.set_speed(1,100)`. To set all servo speeds at once, use `bot.set_speeds([100,100,100])`.
To read positions from the crazyflie, use
-`x = bot.get_x()`
-`y = bot.get_y()`
-`z = bot.get_z()`
-`theta = bot.get_theta()`
+`x = bot.get_x()`,
+`y = bot.get_y()`,
+`z = bot.get_z()`,
+`theta = bot.get_theta()`.
-Example:
+*Example:*
Connect to a robot at localhost, make it spin in a circle and read the x and y positions.
```
-from omnibot_client.Omnibot import OmniBot
+from omnibot.tcp import Connection
from time import time, sleep
# Insert suitable IP-adress
HOST = "localhost"
-with OmniBot(HOST) as bot:
+with Connection(HOST) as bot:
# Target speed for servos
vset = 100
@@ -51,7 +46,7 @@ with OmniBot(HOST) as bot:
sleep(0.1)
```
-Example:
+*Example:*
A pre-defined script which rotates first one way, then the other, and prints logged angle:
```
from omnibot_client.Dummybot import run_dummybot
diff --git a/src/omnibot_client/__init__.py b/src/omnibot/__init__.py
similarity index 100%
rename from src/omnibot_client/__init__.py
rename to src/omnibot/__init__.py
diff --git a/src/omnibot_client/Dummybot.py b/src/omnibot/dummybot.py
similarity index 93%
rename from src/omnibot_client/Dummybot.py
rename to src/omnibot/dummybot.py
index b9dcf72..570a4da 100644
--- a/src/omnibot_client/Dummybot.py
+++ b/src/omnibot/dummybot.py
@@ -2,7 +2,7 @@
import sys
from time import time, sleep
-from .Omnibot import OmniBot
+from .tcp import Connection
def run_dummybot(HOST,verbose=True):
@@ -13,7 +13,7 @@ def run_dummybot(HOST,verbose=True):
ts = 0.1 # sampling time
tstart = time()
- with OmniBot(HOST,verbose=verbose) as bot:
+ with Connection(HOST,verbose=verbose) as bot:
print("Connected")
# Target speed for servos
diff --git a/src/omnibot_client/Omnibot.py b/src/omnibot/tcp.py
similarity index 99%
rename from src/omnibot_client/Omnibot.py
rename to src/omnibot/tcp.py
index 4482668..d5e4742 100644
--- a/src/omnibot_client/Omnibot.py
+++ b/src/omnibot/tcp.py
@@ -1,6 +1,6 @@
import socket
-class OmniBot(object):
+class Connection(object):
"""
A class that implements a servo-client which is capable of sending servo speed-settings
to an omnibot.
diff --git a/src/omnibot_client/ControllerTest.py b/src/omnibot/testcontroller.py
similarity index 97%
rename from src/omnibot_client/ControllerTest.py
rename to src/omnibot/testcontroller.py
index 54787eb..d2244c5 100644
--- a/src/omnibot_client/ControllerTest.py
+++ b/src/omnibot/testcontroller.py
@@ -9,7 +9,7 @@ import threading
# Controller
from inputs import get_gamepad
-from .Omnibot import OmniBot
+from .tcp import Connection
class ControllerState:
"""
@@ -84,7 +84,7 @@ def run_omnibot_with_controller(HOST,verbose=False):
ts = 0.1 # sampling time
- with OmniBot(HOST,verbose=verbose) as bot:
+ with Connection(HOST,verbose=verbose) as bot:
while state.on:
t0 = time()
--
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