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Showing content from https://github.com/nasa-jpl/osr-rover-code/commit/4bbb29a21cea7f7cf28d9235b8d22b1250dbcbed below:

Merge pull request #17 from daniel-s-ingram/daniel-s-ingram/issue-5-p… · nasa-jpl/osr-rover-code@4bbb29a · GitHub

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lines changed Original file line number Diff line number Diff line change


 @@ -1,4 +1,5 @@

1 1


 #!/usr/bin/env python

2

+
 from __future__ import print_function

2 3


 import socket

3 4


 import os

4 5


 import time


 @@ -38,10 +39,10 @@ def _btConnect(self):

38 39


 service_classes = [uuid, SERIAL_PORT_CLASS],

39 40


 profiles = [SERIAL_PORT_PROFILE],

40 41

41

-
 print "waiting for connection on RFCOMM channel %d" % port

42

+
 print("waiting for connection on RFCOMM channel %d" % port)

42 43


 client_socket, client_info = server_sock.accept()

43 44


 client_socket.setblocking(0)

44

-
 print "Accepted connection from ", client_info

45

+
 print("Accepted connection from ", client_info)

45 46


 self.bt_sock = client_socket

46 47


 self.bt_sock.settimeout(1)

47 48


 @@ -50,10 +51,10 @@ def _xBoxConnect(self):

50 51


  Initializes a listener for the Xbox controller

51 52

'''

52 53


 self.joy = xbox.Joystick()

53

-
 print 'Waiting on Xbox connect'

54

+
 print("Waiting on Xbox connect")

54 55


 while not self.joy.connected():

55 56


 time.sleep(1)

56

-
 print 'Accepted connection from Xbox controller', self.joy.connected()

57

+
 print("Accepted connection from Xbox controller", self.joy.connected())

57 58 58 59


 def _btVals(self):

59 60

'''


 @@ -100,13 +101,15 @@ def unixSockConnect(self):

100 101


  values of strings [0-3]

101 102 102 103

'''

103

-
 if os.path.exists(self.config['UNIX_SOCKET_CONFIG']['path']) :

104

+
 if os.path.exists(self.config['UNIX_SOCKET_CONFIG']['path']):

104 105


 client = socket.socket(socket.AF_UNIX,socket.SOCK_DGRAM)

105 106


 client.connect(self.config['UNIX_SOCKET_CONFIG']['path'])

106 107


 self.unix_sock = client

107

-
 print "Sucessfully connected to Unix Socket at: ", self.config['UNIX_SOCKET_CONFIG']['path']

108

+
 print("Sucessfully connected to Unix Socket at: ",

109

+
 self.config['UNIX_SOCKET_CONFIG']['path'])

108 110


 else:

109

-
 print "Couldn't connect to Unix Socket at: ", self.config['UNIX_SOCKET_CONFIG']['path']

111

+
 print("Couldn't connect to Unix Socket at: ",

112

+
 self.config['UNIX_SOCKET_CONFIG']['path'])

110 113 111 114


 def connectController(self):

112 115

'''

Original file line number Diff line number Diff line change


 @@ -1,4 +1,5 @@

1 1


 #!/usr/bin/env python

2

+
 from __future__ import print_function

2 3


 import time

3 4


 from osr import Rover

4 5


 from arguments import Arguments


 @@ -29,7 +30,7 @@ def main():

29 30


 time.sleep(0.1)

30 31 31 32


 except Exception as e:

32

-
 print e

33

+
 print(e)

33 34


 rover.cleanup()

34 35


 time.sleep(0.5)

35 36


 rover.connectController()

Original file line number Diff line number Diff line change


 @@ -1,3 +1,4 @@

1

+
 from __future__ import print_function

1 2


 import time

2 3


 import serial

3 4


 import math


 @@ -78,7 +79,7 @@ def getEnc(motorID):

78 79


 elif (motorID % 2 == 1):

79 80


 command = rc.ReadEncM2

80 81


 else:

81

-
 print "MotorID error"

82

+
 print("MotorID error")

82 83


 return

83 84


 cmd = command(addr[motorID])[1]

84 85


 if motorID == 5:

Original file line number Diff line number Diff line change


 @@ -1,4 +1,5 @@

1 1


 #!/usr/bin/env python

2

+
 from __future__ import print_function

2 3


 from roboclaw import Roboclaw

3 4


 import time

4 5


 import serial


 @@ -33,7 +34,7 @@ def __init__(self,config):

33 34


 version = version & self.rc.ReadVersion(address)[0]

34 35 35 36


 if version != 0:

36

-
 print "[Motor__init__] Sucessfully connected to RoboClaw motor controllers"

37

+
 print("[Motor__init__] Sucessfully connected to RoboClaw motor controllers")

37 38


 else:

38 39


 raise Exception("Unable to establish connection to Roboclaw motor controllers")

39 40


 @@ -66,7 +67,7 @@ def __init__(self,config):

66 67 67 68


 voltage = self.rc.ReadMainBatteryVoltage(0x80)[1]/10.0

68 69


 if voltage >= config['BATTERY_CONFIG']['low_voltage']:

69

-
 print "[Motor__init__] Voltage is safe at: ",voltage, "V"

70

+
 print("[Motor__init__] Voltage is safe at: ",voltage, "V")

70 71


 else:

71 72


 raise Exception("Unsafe Voltage of" + voltage + " Volts")

72 73 Original file line number Diff line number Diff line change


 @@ -1,4 +1,5 @@

1 1


 #!/usr/bin/env python

2

+
 from __future__ import print_function

2 3


 from robot import Robot

3 4


 from connections import Connections

4 5


 @@ -59,7 +60,7 @@ def sendFaceCmd(self):

59 60


 try:

60 61


 self.sendUnixData()

61 62


 except Exception as e:

62

-
 print e

63

+
 print(e)

63 64


 self.unix_flag = 0

64 65 65 66


 def cleanup(self):

Original file line number Diff line number Diff line change


 @@ -1,3 +1,4 @@

1

+
 from __future__ import print_function

1 2


 import time

2 3


 from rover import Robot

3 4


 from connections import Connections


 @@ -36,7 +37,7 @@ def drive(self):

36 37


 self.cleanup()

37 38 38 39


 except Exception as e:

39

-
 print e

40

+
 print(e)

40 41


 self.cleanup()

41 42


 time.sleep(0.5)

42 43


 self.connectController()


 @@ -45,7 +46,7 @@ def drive(self):

45 46


 try:

46 47


 self.sendUnixData()

47 48


 except Exception as e:

48

-
 print e

49

+
 print(e)

49 50


 self.unix_flag = 0

50 51 51 52 Original file line number Diff line number Diff line change


 @@ -1,3 +1,4 @@

1

+
 from __future__ import print_function

1 2


 import time

2 3


 import serial

3 4


 import threading

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