test_serial_control.py

import getopt
import os
import sys
import time


from custom_modules import serial_command


def printusage():
    print(__file__ + " -c <COM_Port>")
    print("  Windows: COMx where x is a number")
    print("  Linux: /dev/ttyXYZ where XYZ can be S2 or USB0")


comPort = ""
try:
    opts, args = getopt.getopt(sys.argv[1:], "c:h", ["com", "help"])
except getopt.GetoptError:
    printusage()
    sys.exit(2)
for opt, arg in opts:
    if opt in ("-h", "--help"):
        printusage()
        sys.exit()
    elif opt in ("-c", "--com"):
        comPort = arg.strip()
    else:
        printusage()
        sys.exit(2)

    if comPort == "":
        try:
            comPort = os.environ["COM_PORT"]
        except KeyError:
            pass
    if comPort != "":
        ser = serial_command.control(comPort)
        try:
            print("Turns:" + str(ser.GetTurns()))

            print("start changing PWM from 0 to 255")
            for pwm in range(0, 255):
                ser.ChangePWM(pwm)
                time.sleep(0.2)
                print("Turns:" + str(ser.GetTurns()))
            print("finished changing PWM")

            print("Turns:" + str(ser.GetTurns()))

            for dir in serial_command.direction:
                ser.ChangeDirection(dir)
                print("changed direction " + str(dir))
                time.sleep(5)
                print("Turns:" + str(ser.GetTurns()))

            for motor in serial_command.motor:
                ser.ChangeMotorA(motor)
                print("changed motor A " + str(motor))
                time.sleep(5)
                print("Turns:" + str(ser.GetTurns()))

            for motor in serial_command.motor:
                ser.ChangeMotorB(motor)
                print("changed motor B " + str(motor))
                time.sleep(5)
                print("Turns:" + str(ser.GetTurns()))

            ser.ChangeAll(
                serial_command.direction.DIR_STRAIGHT, serial_command.motor.MOTOR_STOP, serial_command.motor.MOTOR_STOP, 255
            )
            print("changed all")

            print("Turns:" + str(ser.GetTurns()))
        except KeyboardInterrupt:
            ser.__exit__()

    else:
        printusage()