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changeset 9:97502e4229f9

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Allow choice between serial and direct file access
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Tue, 30 Dec 2014 12:30:34 +0100
parents a04aacdb5999
children 502ed2af18f5
files robot.py
diffstat 1 files changed, 8 insertions(+), 4 deletions(-) [+]
line wrap: on
line diff
--- a/robot.py	Wed Dec 24 21:05:38 2014 +0100
+++ b/robot.py	Tue Dec 30 12:30:34 2014 +0100
@@ -131,9 +131,13 @@
         self.move_leg_to(leg, (rx, -ry * y_dir, None))
 
     @classmethod
-    def make_robot(cls, serial_device='/dev/ttyS0'):
-        serial = open(serial_device, 'w')
-        servos = ServoController(serial)
+    def make_robot(cls, serial_device='/dev/ttyS0', speed=None):
+        if speed is None:
+            uart = open(serial_device, 'w')
+        else:
+            import serial
+            uart = serial.Serial(serial_device, speed)
+        servos = ServoController(uart)
         robot = cls(servos)
         return robot
 
@@ -141,7 +145,7 @@
 if __name__ == '__main__':
     import time
 
-    robot = Robot.make_robot()
+    robot = Robot.make_robot('/dev/ttyUSB0', 115200)
     robot.update()
     time.sleep(1)
     steps = 10