The type of motor inside coderbot is now returned from status, that allows blocks realtive to encoders to be disabled if no encoder motors are mounted

Author: sorre97

api.py

@@ -19,8 +19,8 @@
 
 bot_config = Config.get()
 bot = CoderBot.get_instance(
-    servo=(bot_config.get("move_motor_mode") == "servo"),
     motor_trim_factor=float(bot_config.get("move_motor_trim", 1.0)),
+    encoder=bool(bot_config.get("encoder"))
 )
 
 query = Query()
@@ -85,13 +85,23 @@ def get_info():
         update_status = subprocess.check_output(["cat", "/etc/coderbot/update_status"]).decode('utf-8').replace('\n', '')
     except Exception:
         update_status = 'undefined'
+    try:
+        encoder = bool(Config.read().get('encoder'))
+        if(encoder):
+            motors = 'DC encoder motors'
+        else:
+            motors = 'DC motors'
+    except Exception:
+        motors = 'undefined'
 
     serial = get_serial()
+
     return {'backend_commit': backend_commit,
             'coderbot_version': coderbot_version,
             'update_status': update_status,
             'kernel': kernel,
-            'serial': serial}
+            'serial': serial,
+            'motors': motors}
 
 prog = None
 prog_engine = ProgramEngine.get_instance()
@@ -106,7 +116,7 @@ def stop():
     return 200
 
 def move(data):
-    bot.move(speed=data["speed"], time_elapse=data["elapse"], target_distance=data["distance"])
+    bot.move(speed=data["speed"], elapse=data["elapse"], distance=data["distance"])
     return 200
 
 def turn(data):
@@ -145,7 +155,8 @@ def info():
         "backend commit build": inf["backend_commit"],
         "kernel" : inf["kernel"],
         "update status": inf["update_status"],
-        "serial": inf["serial"]
+        "serial": inf["serial"],
+        "motors": inf["motors"]
     }
 
 def restoreSettings():

coderbot.cfg

@@ -1 +1,39 @@
-{"move_power_angle_3": "60", "cnn_default_model": "generic_fast_low", "prog_maxblocks": "-1", "camera_jpeg_quality": "5", "show_page_control": "true", "camera_framerate": "30", "prog_scrollbars": "true", "move_fw_speed": "100", "prog_level": "adv", "move_motor_trim": "1", "move_motor_mode": "dc", "cv_image_factor": "2", "move_power_angle_1": "45", "camera_path_object_size_min": "4000", "button_func": "none", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "1000000", "move_fw_elapse": "1", "show_control_move_commands": "true", "camera_color_object_size_max": "160000", "show_page_prefs": "true", "camera_exposure_mode": "auto", "ctrl_tr_elapse": "-1", "show_page_program": "true", "move_tr_elapse": "0.5", "camera_path_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "ctrl_fw_elapse": "-1", "sound_stop": "$shutdown.mp3", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "move_tr_speed": "85", "move_power_angle_2": "60", "ctrl_hud_image": "", "load_at_start": "", "sound_start": "$startup.mp3"}
+{
+   "move_power_angle_3":"60",
+   "cnn_default_model":"generic_fast_low",
+   "prog_maxblocks":"-1",
+   "camera_jpeg_quality":"5",
+   "show_page_control":"true",
+   "camera_framerate":"30",
+   "prog_scrollbars":"true",
+   "move_fw_speed":"100",
+   "prog_level":"adv",
+   "move_motor_trim":"1",
+   "move_motor_mode":"dc",
+   "cv_image_factor":"2",
+   "move_power_angle_1":"45",
+   "camera_path_object_size_min":"4000",
+   "button_func":"none",
+   "camera_color_object_size_min":"4000",
+   "camera_jpeg_bitrate":"1000000",
+   "move_fw_elapse":"1",
+   "show_control_move_commands":"true",
+   "camera_color_object_size_max":"160000",
+   "show_page_prefs":"true",
+   "camera_exposure_mode":"auto",
+   "ctrl_tr_elapse":"-1",
+   "show_page_program":"true",
+   "move_tr_elapse":"0.5",
+   "camera_path_object_size_max":"160000",
+   "sound_shutter":"$shutter.mp3",
+   "ctrl_fw_elapse":"-1",
+   "sound_stop":"$shutdown.mp3",
+   "ctrl_tr_speed":"80",
+   "ctrl_fw_speed":"100",
+   "move_tr_speed":"85",
+   "move_power_angle_2":"60",
+   "ctrl_hud_image":"",
+   "load_at_start":"",
+   "sound_start":"$startup.mp3",
+   "encoder":"True"
+}

coderbot.py

@@ -109,9 +109,9 @@ def exit(self):
             s.cancel()
 
     @classmethod
-    def get_instance(cls, servo=False, motor_trim_factor=1.0):
+    def get_instance(cls, motor_trim_factor=1.0, encoder=True):
         if not cls.the_bot:
-            cls.the_bot = CoderBot(servo, motor_trim_factor)
+            cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, encoder=encoder)
         return cls.the_bot
 
     def move(self, speed=100, elapse=0, distance=0):

main.py

@@ -466,8 +466,8 @@ def run_server():
     try:
         try:
             app.bot_config = Config.read()
-            bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode") == "servo"),
-                                        motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)))
+            bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
+                                        encoder=bool(app.bot_config.get('encoder')))
             audio = Audio.get_instance()
             audio.say(app.bot_config.get("sound_start"))
             try: