changed coodinator

software/coordinator2.py

@@ -128,24 +128,26 @@ class PRREvalClient(Client):
             logger.log( "CHANNEL={} ".format(channel) )
             self.set_channel( channel  )
             sleep(0.25)
-            for power in [-17, -7, 0, 3]:
-                logger.log( "POWER={} ".format(power) )
-                self.set_txpower( power  )
-                sleep( 0.5 )
-
-                for payload in ['short', 'miiiiiiiiiiiiiiiiidle', 'loooooooooooooooooooooooooooooooooooooooong']:
-                    logger.log( "PAYLOAD={} ".format(payload) )
-                    self.send_all( "payload {}\n".format( payload )  )
-                    sleep( 0.5 )
-                    # TODO(rh) START ROUND:
-                    # round = Round( channel=channel, power=power, payload=payload )
-                    # session.add( round )
-                    # sessionc.commit()
-                    for sender in NODES:
-                        self.send({'dst': {'id': sender}, 'type': 'serial_tx', 'line': 'tx 5 200000\n'})
-                        # 5 packets, 200ms -> 1 second
-                        sleep( 1.5 )
-                        self.send({'dst': {'id': sender}, 'type': 'serial_tx', 'line': 'ifconfig 3 set state idle\n'})
+			for angle in [0,25,50,75,100,125,150,175]
+			    self.set_angle(angle)
+				sleep(2)
+				for power in [-17, -7, 0, 3]:
+					logger.log( "POWER={} ".format(power) )
+					self.set_txpower( power  )
+					sleep( 0.5 )
+					for payload in ['short', 'miiiiiiiiiiiiiiiiidle', 'loooooooooooooooooooooooooooooooooooooooong']:
+						logger.log( "PAYLOAD={} ".format(payload) )
+						self.send_all( "payload {}\n".format( payload )  )
+						sleep( 0.5 )
+						# TODO(rh) START ROUND:
+						# round = Round( channel=channel, power=power, payload=payload )
+						# session.add( round )
+						# session.commit()
+						for sender in NODES:
+							self.send({'dst': {'id': sender}, 'type': 'serial_tx', 'line': 'tx 5 200000\n'})
+							# 5 packets, 200ms -> 1 second
+							sleep( 1.5 )
+							self.send({'dst': {'id': sender}, 'type': 'serial_tx', 'line': 'ifconfig 3 set state idle\n'})
 
     def run(self):
         while True:
@@ -155,10 +157,13 @@ class PRREvalClient(Client):
                 logger.success("Stopped")
                 break
 
+    def set_angle(self, angle):
+        self.send({'dst': {'id': 'lctc-01-serialsteppermotormodule'}, 'type': 'serial_position', 'position': angle})
+	
     def set_channel(self, channel):
         #self.send_all("ifconfig 3 set state idle\n")
         self.send_all("ifconfig 3 set channel {}\n".format( channel ))
-    
+
     def set_txpower(self, power):
         self.send_all("ifconfig 3 set power {}\n".format( power ))