From a78d7144061894f6ed211bf394ebb4b0e66f9f45 Mon Sep 17 00:00:00 2001
From: nathanmoder <63596741+nathanmoder@users.noreply.github.com>
Date: Sat, 17 Apr 2021 19:51:30 -0400
Subject: [PATCH 1/6] Update MINTlisten.py

---
 mintpatch/MINTlisten.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mintpatch/MINTlisten.py b/mintpatch/MINTlisten.py
index a66409c..f8108a4 100644
--- a/mintpatch/MINTlisten.py
+++ b/mintpatch/MINTlisten.py
@@ -103,8 +103,8 @@ def listen():
         
 
     # END LOOP
-    print("Thank you for using MintPatch!")
+    #rint("Thank you for using MintPatch!")
     listener.disconnect("tcp://127.0.0.1:4242")
 
 if __name__ == '__main__':
-    listen()
\ No newline at end of file
+    listen()

From b8ffc6597a40c2cb16f3359aa7c3079e80892085 Mon Sep 17 00:00:00 2001
From: nathanmoder <63596741+nathanmoder@users.noreply.github.com>
Date: Sat, 17 Apr 2021 19:52:40 -0400
Subject: [PATCH 2/6] Update MINTpatchServer.py

---
 mintpatch/MINTpatchServer.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/mintpatch/MINTpatchServer.py b/mintpatch/MINTpatchServer.py
index ffdb825..adb8150 100644
--- a/mintpatch/MINTpatchServer.py
+++ b/mintpatch/MINTpatchServer.py
@@ -31,7 +31,7 @@ def print_servo(self):
         
         # Prints the info out in one line as a formatted string.
         # Every element is seperated by a space.
-        return '{id} {state} {voltage} {temp} {pos} {speed}'.format(id = self.output_name, 
+        return '\"id\": {id}, \"state\": {state}, \"voltage\": {voltage}, \"temp\": {temp}, \"position\": {pos}, \"speed\": {speed}'.format(id = self.output_name, 
         state = state, voltage = idict["voltage"], temp = idict["temperature"], 
         pos = idict["position"], speed = idict["speed"])
 
@@ -158,9 +158,9 @@ def running_update(self, console_input, input_length):
             self.update_motor(rmotor)
 
         #Returns a string with all motor info
-        motor_info=''
+        motor_info=[]
         for servo_log in self.log_list:
-            motor_info=motor_info+self.log_list[servo_log].print_servo()+'\n'
+            motor_info.append(str(self.log_list[servo_log].print_servo()))
         
         return motor_info
 

From 1bb5d1d8507ebec9fa1860ea7566d20a069ca26d Mon Sep 17 00:00:00 2001
From: nathanmoder <63596741+nathanmoder@users.noreply.github.com>
Date: Sat, 17 Apr 2021 19:57:09 -0400
Subject: [PATCH 3/6] Update startup.py

---
 mintpatch/startup.py | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/mintpatch/startup.py b/mintpatch/startup.py
index 2fca9be..c91c991 100644
--- a/mintpatch/startup.py
+++ b/mintpatch/startup.py
@@ -1,4 +1,3 @@
-
 """
 The startup code for MintPatch.
 Nathan Moder & M. Arnett
@@ -18,15 +17,18 @@
 import zerorpc
 
 def main():
-    # """
+    """
     # Setttings for configuring our pinging to the motors.
     settings_set = {}
+
     # Get the port name through a system call
     raw_port_command = os.popen("ls /dev/ttyUSB*")
     raw_ports = raw_port_command.read()
     port_list_raw = raw_ports.split()
     port_list = []
+
     # Real motors, and matches the launch file simple_l_arm_controller_manager.launch
+    # port_list = {port}
     settings = {
         'baudrate': 1000000,
         'minID': 1,
@@ -34,19 +36,20 @@ def main():
         'updateRate' : 20,
         'diagnosticsRate' : 1
     }
+
     # Get Port List without /dev/
     for raw_port in port_list_raw:
         port = raw_port.replace('/dev/', '')
         settings_set[port] = settings
         port_list.append(port)
-    # """
+    """
 
     #This seperate code with the emulated servos included in the directory.
     #Comment it out when using real motors
     """
     DO NOT REMOVE THIS CODE! Our team has members without constant access to real motors.
     """
-    """
+    #"""
     settings_set = {}
     port_list={'port_1','port_2'}
     settings={
@@ -58,14 +61,16 @@ def main():
     }
     settings_set['port_1']=settings
     settings_set['port_2']=settings
-    """
+    #"""
 
     # Making robot manager, and basically listening in on the GUI translator
     manager = RobotManager(port_list, settings_set)
-    translator = zerorpc.Server(ServerManager(manager))
+    SM_Instance=ServerManager(manager)
+    SM_Instance.scan(1,1)
+    translator = zerorpc.Server(SM_Instance)
     translator.bind("tcp://0.0.0.0:4242")
     translator.run()
 
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()

From e182725dfc59cc9f080736cde032f3971097e8c1 Mon Sep 17 00:00:00 2001
From: nathanmoder <63596741+nathanmoder@users.noreply.github.com>
Date: Sat, 17 Apr 2021 21:05:29 -0400
Subject: [PATCH 4/6] Update fakeProxy.py

---
 mintpatch/fakeProxy.py | 105 +++++++++++++++++++++++++++++------------
 1 file changed, 75 insertions(+), 30 deletions(-)

diff --git a/mintpatch/fakeProxy.py b/mintpatch/fakeProxy.py
index ba762be..31a5b33 100644
--- a/mintpatch/fakeProxy.py
+++ b/mintpatch/fakeProxy.py
@@ -1,31 +1,76 @@
+"""
+The startup code for MintPatch.
+Nathan Moder & M. Arnett
+3/29/2021
+"""
 
-from emulatedMotor import tm1
-from emulatedMotor import tm2
-from emulatedMotor import tm3
-
-class DynomixSerialProxy():
-  def __init__(self, 
-    port_name='/dev/ttyUSB0', 
-    port_namespace='ttyUSB0', 
-    baud_rate=1000000, 
-    min_motor_id=1,
-    max_motor_id=25,
-    update_rate=5,
-    diagnostics_rate=1,
-    error_level_temp=75,
-    warn_level_temp=70,
-    readback_echo=False,
-    protocol_version=2.0):
-    self.motors=[]
-    if(port_namespace=='port_1'):
-      #self.motors[0]=tm1
-      self.motors.append(1)
-      #self.motors[1]=tm2
-      self.motors.append(5)
-    if(port_namespace=='port_2'):
-      self.motors.append(1)
-    #print("proxy init")
-  def connect(self):
-    self.__find_motors()
-  def __find_motors(self):
-    a=1
+
+# Imports from custom classes
+from MINTpatchServer import ServerManager
+from robotManager import RobotManager
+from emulatedMotor import EmulatedMotor
+
+# Import standard libraries
+import json, sys, os
+
+#Imports zerorpc to interact with clients
+import zerorpc
+
+def main():
+    """
+    # Setttings for configuring our pinging to the motors.
+    settings_set = {}
+
+    # Get the port name through a system call
+    raw_port_command = os.popen("ls /dev/ttyUSB*")
+    raw_ports = raw_port_command.read()
+    port_list_raw = raw_ports.split()
+    port_list = []
+
+    # Real motors, and matches the launch file simple_l_arm_controller_manager.launch
+    # port_list = {port}
+    settings = {
+        'baudrate': 1000000,
+        'minID': 1,
+        'maxID': 40,
+        'updateRate' : 20,
+        'diagnosticsRate' : 1
+    }
+
+    # Get Port List without /dev/
+    for raw_port in port_list_raw:
+        port = raw_port.replace('/dev/', '')
+        settings_set[port] = settings
+        port_list.append(port)
+    """
+
+    #This seperate code with the emulated servos included in the directory.
+    #Comment it out when using real motors
+    """
+    DO NOT REMOVE THIS CODE! Our team has members without constant access to real motors.
+    """
+    #"""
+    settings_set = {}
+    port_list={'port_1','port_2'}
+    settings={
+        'baudrate': 100,
+        'minID': 1,
+        'maxID': 50,
+        'updateRate' : 100,
+        'diagnosticsRate' : 100
+    }
+    settings_set['port_1']=settings
+    settings_set['port_2']=settings
+    #"""
+
+    # Making robot manager, and basically listening in on the GUI translator
+    manager = RobotManager(port_list, settings_set)
+    SM_Instance=ServerManager(manager)
+    SM_Instance.scan(1,1)
+    translator = zerorpc.Server(SM_Instance)
+    translator.bind("tcp://0.0.0.0:4242")
+    translator.run()
+
+
+if __name__ == '__main__':
+    main()

From c213ad80747493ac248984c20c9a4383e9775c2c Mon Sep 17 00:00:00 2001
From: nathanmoder <63596741+nathanmoder@users.noreply.github.com>
Date: Sat, 17 Apr 2021 21:06:00 -0400
Subject: [PATCH 5/6] Update fakeWrapper.py

---
 mintpatch/fakeWrapper.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/mintpatch/fakeWrapper.py b/mintpatch/fakeWrapper.py
index 7b28702..c8d0931 100644
--- a/mintpatch/fakeWrapper.py
+++ b/mintpatch/fakeWrapper.py
@@ -80,3 +80,4 @@ def get_feedback(self,servo_id):
         return 'no such servo'
 
         
+

From de77497471fb3b51a8e4eaf457e30f352091cae5 Mon Sep 17 00:00:00 2001
From: nathanmoder <63596741+nathanmoder@users.noreply.github.com>
Date: Sat, 17 Apr 2021 21:15:47 -0400
Subject: [PATCH 6/6] Update fakeProxy.py

---
 mintpatch/fakeProxy.py | 164 +++++++++++++++++++++++------------------
 1 file changed, 91 insertions(+), 73 deletions(-)

diff --git a/mintpatch/fakeProxy.py b/mintpatch/fakeProxy.py
index 31a5b33..88de0eb 100644
--- a/mintpatch/fakeProxy.py
+++ b/mintpatch/fakeProxy.py
@@ -1,76 +1,94 @@
-"""
-The startup code for MintPatch.
-Nathan Moder & M. Arnett
-3/29/2021
-"""
+#Nathan Moder
 
+from emulatedMotor import tm1
+from emulatedMotor import tm2
+from emulatedMotor import tm3
 
-# Imports from custom classes
-from MINTpatchServer import ServerManager
-from robotManager import RobotManager
-from emulatedMotor import EmulatedMotor
+class DynomixSerialProxy():
+  def __init__(self, 
+    port_name='/dev/ttyUSB0', 
+    port_namespace='ttyUSB0', 
+    baud_rate=1000000, 
+    min_motor_id=1,
+    max_motor_id=25,
+    update_rate=5,
+    diagnostics_rate=1,
+    error_level_temp=75,
+    warn_level_temp=70,
+    readback_echo=False,
+    protocol_version=2.0):
+    self.motors=[]
+    self.port_name=port_name
+    if(port_namespace=='port_1'):
+      #self.motors[0]=tm1
+      self.motors.append(1)
+      #self.motors[1]=tm2
+      self.motors.append(15)
+    if(port_namespace=='port_2'):
+      self.motors.append(110)
+    #print("proxy init")
+  def connect(self):
+    self.__find_motors()
+  def __find_motors(self):
+    a=1
+  def set_goal_position(self, servo_id, goal):
+        #print(self.port)
+        if self.port_name=="/dev/port_1":
+            #print(servo_id)
+            if 1==int(servo_id):
+                #print("into if")
+                tm1.set_goal_speed(goal)
+            elif int(servo_id)==15:
+                tm2.set_goal_speed(goal)
+        elif self.port_name=="/dev/port_2":
+            if int(servo_id)==110:
+                tm3.set_goal_speed(goal)
 
-# Import standard libraries
-import json, sys, os
-
-#Imports zerorpc to interact with clients
-import zerorpc
-
-def main():
-    """
-    # Setttings for configuring our pinging to the motors.
-    settings_set = {}
-
-    # Get the port name through a system call
-    raw_port_command = os.popen("ls /dev/ttyUSB*")
-    raw_ports = raw_port_command.read()
-    port_list_raw = raw_ports.split()
-    port_list = []
-
-    # Real motors, and matches the launch file simple_l_arm_controller_manager.launch
-    # port_list = {port}
-    settings = {
-        'baudrate': 1000000,
-        'minID': 1,
-        'maxID': 40,
-        'updateRate' : 20,
-        'diagnosticsRate' : 1
-    }
-
-    # Get Port List without /dev/
-    for raw_port in port_list_raw:
-        port = raw_port.replace('/dev/', '')
-        settings_set[port] = settings
-        port_list.append(port)
-    """
-
-    #This seperate code with the emulated servos included in the directory.
-    #Comment it out when using real motors
-    """
-    DO NOT REMOVE THIS CODE! Our team has members without constant access to real motors.
-    """
-    #"""
-    settings_set = {}
-    port_list={'port_1','port_2'}
-    settings={
-        'baudrate': 100,
-        'minID': 1,
-        'maxID': 50,
-        'updateRate' : 100,
-        'diagnosticsRate' : 100
-    }
-    settings_set['port_1']=settings
-    settings_set['port_2']=settings
-    #"""
-
-    # Making robot manager, and basically listening in on the GUI translator
-    manager = RobotManager(port_list, settings_set)
-    SM_Instance=ServerManager(manager)
-    SM_Instance.scan(1,1)
-    translator = zerorpc.Server(SM_Instance)
-    translator.bind("tcp://0.0.0.0:4242")
-    translator.run()
-
-
-if __name__ == '__main__':
-    main()
+  def get_feedback(self,servo_id):
+    if self.port_name=="/dev/port_1":
+      if int(servo_id)==1:
+        if tm1.moving:
+          tm1.check_while_running()
+        return {
+              'id':tm1.id,
+              'goal': 0,
+              'position': tm1.angle,
+              'error' : 0,
+              'speed' : tm1.speed,
+              'load' : 0,
+              'voltage' : tm1.voltage,
+              'temperature' : tm1.temperature,
+              'moving' : tm1.moving
+              }
+      if int(servo_id)==15:
+        if tm2.moving:
+          tm2.check_while_running()
+        return {
+              'id':tm2.id,
+              'goal': 0,
+              'position': tm2.angle,
+              'error' : 0,
+              'speed' : tm2.speed,
+              'load' : 0,
+              'voltage' : tm2.voltage,
+              'temperature' : tm2.temperature,
+              'moving' : tm2.moving
+              }
+    if self.port_name=="/dev/port_2":
+      if int(servo_id)==110:
+        if tm3.moving:
+          tm3.check_while_running()
+        return {
+          'id':tm3.id,
+          'goal': 0,
+          'position': tm3.angle,
+          'error' : 0,
+          'speed' : tm3.speed,
+          'load' : 0,
+          'voltage' : tm3.voltage,
+          'temperature' : tm3.temperature,
+          'moving' : tm3.moving
+          }
+    return 'no such servo'
+  def set_torque_enabled(self, sid, thing):
+    a=1