Clean up - remove the part finished stuff. Needs rethinking.

Author: dannystaple

usb_arm.py

@@ -1,12 +1,12 @@
 """Maplin USB Robot arm control"""
 import os
-os.environ['DYLD_LIBRARY_PATH']='/opt/local/lib'
+os.environ['DYLD_LIBRARY_PATH'] = '/opt/local/lib'
 import usb.core
 from time import sleep
 
 
 class BitPattern(object):
-    """A bitpattern to send to a robot arm"""
+    """A bit pattern to send to a robot arm"""
     __slots__ = ['arm', 'base', 'led']
 
     def __init__(self, arm, base, led):
@@ -22,29 +22,29 @@ def __getitem__(self, item):
 
     def __or__(self, other):
         return BitPattern(self.arm | other.arm,
-            self.base | other.base,
-            self.led | other.led)
+                          self.base | other.base,
+                          self.led | other.led)
 
 CloseGrips =    BitPattern(1, 0, 0)
 OpenGrips =     BitPattern(2, 0, 0)
 Stop =          BitPattern(0, 0, 0)
-WristUp = BitPattern(0x4, 0, 0)
-WristDown = BitPattern(0x8, 0, 0)
-ElbowUp = BitPattern(0x10, 0, 0)
-ElbowDown = BitPattern(0x20, 0, 0)
-ShoulderUp = BitPattern(0x40, 0, 0)
-ShoulderDown = BitPattern(0x80, 0, 0)
+WristUp =       BitPattern(0x4, 0, 0)
+WristDown =     BitPattern(0x8, 0, 0)
+ElbowUp =       BitPattern(0x10, 0, 0)
+ElbowDown =     BitPattern(0x20, 0, 0)
+ShoulderUp =    BitPattern(0x40, 0, 0)
+ShoulderDown =  BitPattern(0x80, 0, 0)
 BaseClockWise = BitPattern(0, 1, 0)
 BaseCtrClockWise = BitPattern(0, 2, 0)
-LedOn = BitPattern(0, 0, 1)
+LedOn =         BitPattern(0, 0, 1)
 
 
 class Arm(object):
     """Arm interface"""
     __slots__ = ['dev']
 
     def __init__(self):
-        self.dev = usb.core.find(idVendor = 0x1267)
+        self.dev = usb.core.find(idVendor=0x1267)
         self.dev.set_configuration()
 
     def tell(self, msg):
@@ -61,18 +61,20 @@ def safe_tell(self, fn):
             self.tell(Stop)
             raise
 
-    def move(self, pattern, time = 1):
+    def move(self, pattern, time=1):
         """Perform a pattern move with timing and stop"""
         self.tell(pattern)
         sleep(time)
         self.tell(Stop)
 
     def doActions(self, actions):
-        """Params: List of actions - each is a list/tuple of BitPattern and time (defaulting to 1 if not set)"""
+        """Params: List of actions - each is a list/tuple of BitPattern and time
+         (defaulting to 1 if not set)"""
         #Validate
         for action in actions:
             if not 1 <= len(action) <= 2:
-                raise ValueError("Wrong number of parameters in action %s" % (repr(action)))
+                raise ValueError("Wrong number of parameters in action %s" %
+                                 (repr(action)))
             if not isinstance(action[0], BitPattern):
                 raise ValueError("Not a valid action")
         #Do
@@ -89,19 +91,10 @@ def doActions(self, actions):
 
 
 block_left = [[ShoulderDown], [CloseGrips, 0.4], [ShoulderUp],
-              [BaseClockWise, 10.2], [ShoulderDown], [OpenGrips, 0.4], [ShoulderUp, 1.2]]
-block_right = [[ShoulderDown], [CloseGrips, 0.4], [ShoulderUp], [BaseCtrClockWise, 10.2],
-               [ShoulderDown], [OpenGrips, 0.4], [ShoulderUp, 1.2]]
+              [BaseClockWise, 10.2], [ShoulderDown],
+              [OpenGrips, 0.4], [ShoulderUp, 1.2]]
+block_right = [[ShoulderDown], [CloseGrips, 0.4], [ShoulderUp],
+               [BaseCtrClockWise, 10.2], [ShoulderDown],
+               [OpenGrips, 0.4], [ShoulderUp, 1.2]]
 left_and_blink = list(block_left)
 left_and_blink.extend([[LedOn, 0.5], [Stop, 0.5]] * 3)
-
-
-#def make_stack_action(source_blocks, dest_blocks, base_dir):
-#    """The block counts suggest how high we should be taking up blocks from.
-#    Starting point is over the source stack. Elbow should be 3 seconds from horizontal, shoulder vertical, grippers open"""
-#    if base_dir = BitPatterns.BaseClockWise:
-#        ctr_dir = BitPatterns.BaseCtrClockWise
-#    else:
-#        ctr_dir = BitPatterns.BaseClockWise
-#    cmds = [[ElbowDown, 3 - source_blocks * 0.4]]
-#    cmds = [[ShoulderDown], [CloseGrips, 0.4], [ShoulderUp], [BaseClockWise, 10.2], [ShoulderDown], [OpenGrips, 0.4], [ShoulderUp, 1.2]]