Changed to not have default port, to simplify connections via routers

README.md

@@ -14,7 +14,7 @@ pip install git+https://gitlab.control.lth.se/processes/omnibot/omnibot.py
 ## Usage
 
 ### Code
-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])`.
+Import the connection-object with `from omnibot.tcp import Connection`. Use the `with Connection(HOST, PORT) 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()`,
@@ -29,9 +29,10 @@ from omnibot.tcp import Connection
 from time import time, sleep
 
 # Insert suitable IP-adress
-HOST = "localhost"
+HOST = "192.168.0.101"
+PORT = 9001
 
-with Connection(HOST) as bot:
+with Connection(HOST, PORT) as bot:
         
         # Target speed for servos
         vset = 100
@@ -58,15 +59,16 @@ A pre-defined script which rotates first one way, then the other, and prints log
 from omnibot.dummybot import run_dummybot
 
 # Insert suitable IP-adress
-HOST = "localhost"
-run_dummybot(HOST)
+HOST = "192.168.0.101"
+PORT = 9001
+run_dummybot(HOST, PORT)
 ```
 
 ### Maximum servo speed
 You can get the maximum absolute value of servo-speed-setpoints with `max_speed = bot.get_max_speed()`. Any value above (below) `max_speed` (`-max_speed`) is rounded down (up) on the server side.
 
 ### Network
-At the department of automatic control, you should be connected to the omnibots via the same router. Currently this has been done with the router with name *robotlab*, where the IP naming conventions for the robots are `192.168.0.10X` for robot with name `omniX`, i.e. omnibot `omni6` has IP `192.168.0.106`.
+At the department of automatic control, you should be connected to the omnibots via the same router. Currently this has been done with the router with name *robotlab*. IP and port conventions: Robot with name *omniX* has IP `192.168.0.10X` and port `900X` e.g.. omnibot `omni10` has IP `192.168.0.110`and port `9006`.
 
 ## Support
 felix.agner@control.lth.se

src/omnibot/dummybot.py

@@ -5,7 +5,7 @@ from time import time, sleep
 from .tcp import Connection
 
 
-def run_dummybot(HOST,verbose=True):
+def run_dummybot(HOST, PORT, verbose=True):
     """
     Runs a dummybot at host HOST that rotates a bit while printing x and y coordinates.
     """
@@ -13,7 +13,7 @@ def run_dummybot(HOST,verbose=True):
     ts = 0.1 # sampling time
     tstart = time()
 
-    with Connection(HOST,verbose=verbose) as bot:
+    with Connection(HOST,PORT,verbose=verbose) as bot:
         print("Connected")
         
         # Target speed for servos
@@ -40,11 +40,13 @@ def run_dummybot(HOST,verbose=True):
 if __name__ == '__main__':
     # Server settings
     HOST = "localhost"
+    PORT = 9998
 
-    if len(sys.argv) > 1:
+    if len(sys.argv) > 2:
         # If an input is given to the script, it will be interpreted as the intended
-        # IP-address. Baseline is localhost.
+        # IP-address and port. Baseline is localhost, 9998.
         HOST = sys.argv[1]
+        PORT = sys.argv[2]
     
     print(f"HOST: \t {HOST}")
-    run_dummybot(HOST)
+    run_dummybot(HOST,PORT)
\ No newline at end of file

src/omnibot/tcp.py

@@ -5,10 +5,10 @@ class Connection(object):
     to an omnibot. 
 
     HOST: Host name of server (string)
-    PORT: Port to connect to (int) (default 9998)
+    PORT: Port to connect to (int) 
     verbose: choose level of chit-chat (boolean)
     """
-    def __init__(self,HOST,PORT=9998,verbose=False):
+    def __init__(self,HOST,PORT,verbose=False):
         self.HOST = HOST
         self.PORT = PORT
         self.verbose=verbose