timeout fixed on ax12 library, now a more fluid movement experince

Python/ax12/ax12.py

@@ -129,15 +129,15 @@ class Ax12:
    RPI_DIRECTION_PIN = 18
    RPI_DIRECTION_TX = GPIO.HIGH
    RPI_DIRECTION_RX = GPIO.LOW
    RPI_DIRECTION_SWITCH_DELAY = 0.0005
    RPI_DIRECTION_SWITCH_DELAY = 0.00005

    # static variables
    port = None
    gpioSet = False

    def __init__(self):
        if(Ax12.port == None):
            Ax12.port = Serial("/dev/ttyAMA0", baudrate=1000000, timeout=0.5)
            Ax12.port = Serial("/dev/ttyAMA0", baudrate=1000000, timeout=0.001)
        if(not Ax12.gpioSet):
            GPIO.setwarnings(False)
            GPIO.setmode(GPIO.BCM)
@@ -168,7 +168,6 @@ def direction(self,d):
        sleep(Ax12.RPI_DIRECTION_SWITCH_DELAY)

    def readData(self,id):
        sleep(Ax12.TX_DELAY_TIME)
        self.direction(Ax12.RPI_DIRECTION_RX)
        try:
            h1 = Ax12.port.read()
@@ -398,7 +397,7 @@ def action(self):
        outData += chr(Ax12.AX_ACTION)
        outData += chr(Ax12.AX_ACTION_CHECKSUM)
        Ax12.port.write(outData)
        sleep(Ax12.TX_DELAY_TIME)
        #sleep(Ax12.TX_DELAY_TIME)

    def setTorqueStatus(self, id, status):
        self.direction(Ax12.RPI_DIRECTION_TX)

Python/tests/testOSC2.py

@@ -1,6 +1,6 @@
from liblo import *
import sys
from time import sleep
from time import sleep,time
from random import random
import math
sys.path.append("..")
@@ -12,11 +12,12 @@ def __init__(self):

    @make_method('/angles', 'ffffff')
    def foo_callback(self, path, args):
        print args
        #print args
        #print map(lambda x:math.degrees(x),args)
        anglesData.append(args)

def moveMotors():
    print "wrinting on the motors..."
    #print "wrinting on the motors..."
    angles = anglesData[0]

    del anglesData[0]
@@ -33,10 +34,13 @@ def moveMotors():
        try:
            servos.moveSpeedRW(i+1,angPos,1023)
        except:
            pass
        sleep(0.03)
            try:
                servos.moveSpeedRW(i+1,angPos,1023)
            except:
                print "3rd time c.p."
                pass

    servos.action()
    sleep(0.02)


def initMotors():
@@ -47,7 +51,7 @@ def initMotors():
    for i in range(2):
        for mt in range(1,6+1):
            pp = p if mt%2==0 else 1024-p
            servos.moveSpeedRW(mt,pp,50)
            servos.moveSpeedRW(mt,pp,450)
            sleep(0.01)
        servos.action()
        p = 1320 - p
@@ -76,15 +80,24 @@ def setup():

if __name__=="__main__":
    setup()
    while(1):
        try :
           while 1:
            if(anglesData):
                moveMotors()
            sleep(0.1)

        except KeyboardInterrupt :
            print  "\nStoping OSCServer."
            server.stop()
            sys.exit()
    timeAverage = 0
    count = 0
    try :
       while 1:
        lastTime = time()
        if(anglesData):
            moveMotors()
        if(time()-lastTime > 0.001):
            print "%f" % (time()-lastTime)
        timeAverage += (time()-lastTime)
        count +=1
        if count >= 100:
           # print "%f" % (timeAverage/100)
            timeAverage = 0
            count = 0

    except KeyboardInterrupt :
        print  "\nStoping OSCServer."
        server.stop()
        sys.exit()