Update GUI in pid tests

skrub-wreckers · Jan 21, 2016 · 15d68cd · 15d68cd
1 parent 6fb0dae
commit 15d68cd
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Showing 3 changed files with 15 additions and 4 deletions.
diff --git a/sw/gui/__init__.py b/sw/gui/__init__.py
@@ -0,0 +1 @@
+from .window import Window
diff --git a/tests/pid_move_test.py b/tests/pid_move_test.py
@@ -1,6 +1,7 @@
 from sw.hal import *
-from sw.vision.window import Window
+from sw.vision.window import Window as OldWindow
 from sw.mapping import Mapper
+from sw.gui import Window
 
 import cv2
 
@@ -11,8 +12,9 @@
         drive = RegulatedDrive(tamproxy)
         arms = Arms(tamproxy)
 
-        w = Window("Control here")
+        w = OldWindow("Control here")
         m = Mapper(drive.odometer)
+        w = Window(500, [m])
 
         while True:
             c = chr(cv2.waitKey(1) & 0xFF)

diff --git a/tests/square_test.py b/tests/square_test.py
@@ -1,7 +1,8 @@
 from sw.hal import *
 from sw.mapping import Mapper
+from sw.gui import Window
 
-import cv2
+import numpy as np
 
 from tamproxy import TAMProxy
 
@@ -10,13 +11,20 @@
         drive = RegulatedDrive(tamproxy)
 
         m = Mapper(drive.odometer)
-
+        w = Window(500, [m])
         while True:
             print 'A'
+            drive.turn_to(0)
             drive.go_to([24,0])
+
             print 'B'
+            drive.turn_to(np.pi * 0.5)
             drive.go_to([24,24])
+
             print 'C'
+            drive.turn_to(np.pi)
             drive.go_to([0,24])
+
             print 'D'
+            drive.turn_to(np.pi * 1.5)
             drive.go_to([0,0])