vincent topgear testing.ipynb

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  "signature": "sha256:50dec9987e907df8de5766a94babb3e96678f8353937bebd5d806e6eec135150"
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 "nbformat": 3,
 "nbformat_minor": 0,
 "worksheets": [
  {
   "cells": [
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "<img src=\"http://mirageforum.com/forum/attachment.php?attachmentid=159&d=1370617142\">"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "back to [Index](index.ipynb)"
     ]
    },
    {
     "cell_type": "heading",
     "level": 1,
     "metadata": {},
     "source": [
      "vincent topgear testing"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "2014-07-20"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "some code writen by vincent to test topgear"
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# Cross-notebook include shim\n",
      "with open(\"nbinclude.ipynb\") as nbinclude_f: # don't rename nbinclude_f\n",
      "    import IPython.nbformat.current\n",
      "    get_ipython().run_cell(IPython.nbformat.current.read(nbinclude_f, 'json').worksheets[0].cells[0].input)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 3
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "nbinclude(\"robot\")"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 4
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r = Robot()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 5
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd?"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 9
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(self, 1, 1);\n"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "NameError",
       "evalue": "name 'self' is not defined",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mNameError\u001b[0m                                 Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-10-ef2ef9787292>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m1\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m;\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[1;31mNameError\u001b[0m: name 'self' is not defined"
       ]
      }
     ],
     "prompt_number": 10
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.enable()\n"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 6
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(1,1)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 8
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 9
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "while True: \n",
      "    for i in range(0,100):\n",
      "        r.cmd(i*0.01, i*0.01)\n",
      "    for i in range(0,100):\n",
      "        r.cmd(1-i*0.01, 1-i*0.01)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "KeyboardInterrupt",
       "evalue": "",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-10-df87e8714518>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m      3\u001b[0m         \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      4\u001b[0m     \u001b[1;32mfor\u001b[0m \u001b[0mi\u001b[0m \u001b[1;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m100\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 5\u001b[1;33m         \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m1\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m1\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[1;32m<ipython-input-4-a7cb442a1db4>\u001b[0m in \u001b[0;36mcmd\u001b[1;34m(self, left, right)\u001b[0m\n\u001b[0;32m     38\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mleft\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mright\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     39\u001b[0m \u001b[1;31m#         self.rlock.acquire()\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 40\u001b[1;33m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m_cmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mleft\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mright\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     41\u001b[0m \u001b[1;31m#         self.rlock.release()\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     42\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0m_cmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mleft\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mright\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m<ipython-input-4-a7cb442a1db4>\u001b[0m in \u001b[0;36m_cmd\u001b[1;34m(self, left, right)\u001b[0m\n\u001b[0;32m     44\u001b[0m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mlast_right\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mright\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     45\u001b[0m         \u001b[1;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0menabled\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 46\u001b[1;33m             \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mm_left\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mleft\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     47\u001b[0m             \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mm_right\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mright\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     48\u001b[0m         \u001b[1;32melse\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m<ipython-input-4-a7cb442a1db4>\u001b[0m in \u001b[0;36mcmd\u001b[1;34m(self, speed)\u001b[0m\n\u001b[0;32m     11\u001b[0m         \u001b[1;32melse\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     12\u001b[0m             \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0ma1\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 13\u001b[1;33m             \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0ma2\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mspeed\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     14\u001b[0m \u001b[1;32mclass\u001b[0m \u001b[0mRobot\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     15\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0m__init__\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/home/odroid/topgear/python/mbedrpc.pyc\u001b[0m in \u001b[0;36mwrite\u001b[1;34m(self, value)\u001b[0m\n\u001b[0;32m    190\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    191\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mwrite\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mvalue\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 192\u001b[1;33m         \u001b[0mr\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mmbed\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mrpc\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;34m\"write\"\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m[\u001b[0m\u001b[0mstr\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mvalue\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    193\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    194\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mread\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/home/odroid/topgear/python/mbedrpc.pyc\u001b[0m in \u001b[0;36mrpc\u001b[1;34m(self, name, method, args)\u001b[0m\n\u001b[0;32m     86\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mrpc\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mmethod\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0margs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     87\u001b[0m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mser\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m\"/\"\u001b[0m \u001b[1;33m+\u001b[0m \u001b[0mname\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\"/\"\u001b[0m \u001b[1;33m+\u001b[0m \u001b[0mmethod\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\" \"\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\" \"\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mjoin\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;33m+\u001b[0m \u001b[1;34m\"\\n\"\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 88\u001b[1;33m         \u001b[1;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mser\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mreadline\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mstrip\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     89\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     90\u001b[0m \u001b[1;32mclass\u001b[0m \u001b[0mHTTPRPC\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mmbed\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/usr/lib/python2.7/dist-packages/serial/serialposix.pyc\u001b[0m in \u001b[0;36mread\u001b[1;34m(self, size)\u001b[0m\n\u001b[0;32m    444\u001b[0m         \u001b[0mread\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mbytearray\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    445\u001b[0m         \u001b[1;32mwhile\u001b[0m \u001b[0mlen\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mread\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;33m<\u001b[0m \u001b[0msize\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 446\u001b[1;33m             \u001b[0mready\u001b[0m\u001b[1;33m,\u001b[0m\u001b[0m_\u001b[0m\u001b[1;33m,\u001b[0m\u001b[0m_\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mselect\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mselect\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mfd\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m_timeout\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    447\u001b[0m             \u001b[1;31m# If select was used with a timeout, and the timeout occurs, it\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    448\u001b[0m             \u001b[1;31m# returns with empty lists -> thus abort read operation.\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;31mKeyboardInterrupt\u001b[0m: "
       ]
      }
     ],
     "prompt_number": 10
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 11
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "import time\n"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 12
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "for i in range(0, 10):\n",
      "    time.sleep(1)\n",
      "    print(i)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "0\n",
        "1"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "2"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "3"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "4"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "5"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "6"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "7"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "8"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n",
        "9"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "\n"
       ]
      }
     ],
     "prompt_number": 13
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "while True: \n",
      "    for i in range(0,100):\n",
      "        r.cmd(i*0.01, i*0.01)\n",
      "        time.sleep(.5)\n",
      "    for i in range(0,100):\n",
      "        r.cmd(1-i*0.01, 1-i*0.01)\n",
      "        time.sleep(.5)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "KeyboardInterrupt",
       "evalue": "",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-14-79ff6f63987d>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m      2\u001b[0m     \u001b[1;32mfor\u001b[0m \u001b[0mi\u001b[0m \u001b[1;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m100\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      3\u001b[0m         \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 4\u001b[1;33m         \u001b[0mtime\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      5\u001b[0m     \u001b[1;32mfor\u001b[0m \u001b[0mi\u001b[0m \u001b[1;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m100\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      6\u001b[0m         \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m1\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m1\u001b[0m\u001b[1;33m-\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m*\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;31mKeyboardInterrupt\u001b[0m: "
       ]
      }
     ],
     "prompt_number": 14
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0\n",
      "      )"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 15
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "while True:\n",
      "    r.cmd(.5,.5)\n",
      "    time.sleep(.5)\n",
      "    r.cmd(-.5,-.5)\n",
      "    time.sleep(.5)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "KeyboardInterrupt",
       "evalue": "",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-16-adaa37c1f61e>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m      1\u001b[0m \u001b[1;32mwhile\u001b[0m \u001b[0mTrue\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      2\u001b[0m     \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 3\u001b[1;33m     \u001b[0mtime\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      4\u001b[0m     \u001b[0mr\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcmd\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m-\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m-\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      5\u001b[0m     \u001b[0mtime\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;31mKeyboardInterrupt\u001b[0m: "
       ]
      }
     ],
     "prompt_number": 16
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0\n",
      "      )"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 17
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": []
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from IPython.html.widgets import interact, interactive, fixed\n",
      "from IPython.html import widgets\n",
      "from IPython.display import clear_output, display, HTML"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 18
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def show_args(**kwargs):\n",
      "    s = '<h3>Arguments:</h3><table>\\n'\n",
      "    for k,v in kwargs.items():\n",
      "        s += '<tr><td>{0}</td><td>{1}</td></tr>\\n'.format(k,v)\n",
      "    s += '</table>'\n",
      "    display(HTML(s))"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 19
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "i = interact(show_args,\n",
      "         right=(-1.,1.,0.1),\n",
      "         left=(-1.,1.,0.1));"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "html": [
        "<h3>Arguments:</h3><table>\n",
        "<tr><td>right</td><td>-0.5</td></tr>\n",
        "<tr><td>left</td><td>-0.3</td></tr>\n",
        "</table>"
       ],
       "metadata": {},
       "output_type": "display_data",
       "text": [
        "<IPython.core.display.HTML at 0x153c150>"
       ]
      }
     ],
     "prompt_number": 20
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "right\n"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "NameError",
       "evalue": "name 'right' is not defined",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mNameError\u001b[0m                                 Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-38-aa1fd6a0f7b4>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mright\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[1;31mNameError\u001b[0m: name 'right' is not defined"
       ]
      }
     ],
     "prompt_number": 38
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def print_two(one, two):\n",
      "    print(one)\n",
      "    print(two)\n",
      "    "
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 21
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "print_two(1,2)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "1\n",
        "2\n"
       ]
      }
     ],
     "prompt_number": 22
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "i = interact(print_two,\n",
      "             one=(-1.,1.,0.1),\n",
      "             two=(-1.,1.,0.1));"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "-0.2\n",
        "-0.1\n"
       ]
      }
     ],
     "prompt_number": 23
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "i = interact(r.cmd,\n",
      "             l=(-1.,1.,0.1),\n",
      "             r=(-1.,1.,0.1));"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "ValueError",
       "evalue": "cannot find widget or abbreviation for argument: 'left'",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mValueError\u001b[0m                                Traceback (most recent call last)",
        "\u001b[1;32m<ipython-input-24-8078413974f0>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m      1\u001b[0m i = interact(r.cmd,\n\u001b[0;32m      2\u001b[0m              \u001b[0ml\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m-\u001b[0m\u001b[1;36m1.\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m1.\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m0.1\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 3\u001b[1;33m              r=(-1.,1.,0.1));\n\u001b[0m",
        "\u001b[1;32m/usr/local/lib/python2.7/dist-packages/IPython/html/widgets/interaction.pyc\u001b[0m in \u001b[0;36minteract\u001b[1;34m(__interact_f, **kwargs)\u001b[0m\n\u001b[0;32m    234\u001b[0m         \u001b[1;31m#        ...\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    235\u001b[0m         \u001b[0mf\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0m__interact_f\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 236\u001b[1;33m         \u001b[0mw\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0minteractive\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mf\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    237\u001b[0m         \u001b[0mf\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mwidget\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mw\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    238\u001b[0m         \u001b[0mdisplay\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mw\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/usr/local/lib/python2.7/dist-packages/IPython/html/widgets/interaction.pyc\u001b[0m in \u001b[0;36minteractive\u001b[1;34m(__interact_f, **kwargs)\u001b[0m\n\u001b[0;32m    183\u001b[0m     \u001b[0mkwargs\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mkwargs\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcopy\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    184\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 185\u001b[1;33m     \u001b[0mnew_kwargs\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0m_find_abbreviations\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mf\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mkwargs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    186\u001b[0m     \u001b[1;31m# Before we proceed, let's make sure that the user has passed a set of args+kwargs\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    187\u001b[0m     \u001b[1;31m# that will lead to a valid call of the function. This protects against unspecified\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;32m/usr/local/lib/python2.7/dist-packages/IPython/html/widgets/interaction.pyc\u001b[0m in \u001b[0;36m_find_abbreviations\u001b[1;34m(f, kwargs)\u001b[0m\n\u001b[0;32m    158\u001b[0m         \u001b[1;32mfor\u001b[0m \u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mvalue\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdefault\u001b[0m \u001b[1;32min\u001b[0m \u001b[0m_yield_abbreviations_for_parameter\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mparam\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mkwargs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    159\u001b[0m             \u001b[1;32mif\u001b[0m \u001b[0mvalue\u001b[0m \u001b[1;32mis\u001b[0m \u001b[0mempty\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 160\u001b[1;33m                 \u001b[1;32mraise\u001b[0m \u001b[0mValueError\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'cannot find widget or abbreviation for argument: {!r}'\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mformat\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mname\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    161\u001b[0m             \u001b[0mnew_kwargs\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mappend\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mvalue\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdefault\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    162\u001b[0m     \u001b[1;32mreturn\u001b[0m \u001b[0mnew_kwargs\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
        "\u001b[1;31mValueError\u001b[0m: cannot find widget or abbreviation for argument: 'left'"
       ]
      }
     ],
     "prompt_number": 24
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(1,1)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 25
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 26
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def drive_robot(left, right):\n",
      "    r.cmd(left, right)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 27
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "i = interact(drive_robot,\n",
      "             left=(-1.,1.,0.1),\n",
      "             right=(-1.,1.,0.1));"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 28
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(-.35,-.7)\n",
      "time.sleep(1)\n",
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 29
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(.35,.7)\n",
      "time.sleep(1)\n",
      "r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 30
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def spin(seconds):\n",
      "    r.cmd(.35,-.7)\n",
      "    time.sleep(seconds)\n",
      "    r.cmd(0,0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 31
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "spin(.2)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 33
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def square():\n",
      "    for i in range(0,4):\n",
      "        r.cmd(.35,.7)\n",
      "        time.sleep(.5)\n",
      "        r.cmd(0,0)\n",
      "        spin(.2)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 34
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "square()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 36
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "r.cmd(0, 0)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 97
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": []
    }
   ],
   "metadata": {}
  }
 ]
}