porting on windows 10

py/getkey.py

 class GetKey:
     def __init__(self):
-        import tty, sys, termios # import termios now or else you'll get the Unix version on the Mac
-
+        import platform
+        self.system = "Linux"
+        if platform.system() == "Windows":
+            self.system = "Windows"
+        if self.system == "Windows":
+            import msvcrt  # no termios neither tty on Windows10 , use msvcrt instead
+        elif self.system == "Linux":
+            import tty, sys, termios # import termios and sys not tesetd on MacOs
     def __call__(self):
-        import sys, tty, termios
-        fd = sys.stdin.fileno()
-        old_settings = termios.tcgetattr(fd)
-        try:
-            tty.setraw(sys.stdin.fileno())
-            ch = sys.stdin.read(1)
-        finally:
-            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+        if self.system == "Windows":
+            import msvcrt  
+            ch=chr(0)
+            if msvcrt.kbhit():
+                ch = msvcrt.getch()
+        if self.system == "Linux":
+            import tty, sys, termios 
+            fd = sys.stdin.fileno()
+            old_settings = termios.tcgetattr(fd)
+            try:
+                tty.setraw(sys.stdin.fileno())
+                ch = sys.stdin.read(1)
+            finally:
+                termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
         return ch
 
 if __name__ == "__main__":
+    import time
     getkey = GetKey()
 
     while True:
@@ -21,7 +34,8 @@ if __name__ == "__main__":
         ich = ord(ch)
         if ich>=32:
             print (ch,ich,"%2.2X"%(ich))
-        else:
+        elif ich>0:
             print (ich,"%2.2X"%(ich))
         if ich == 27 or ich==3:   # 3 = CTRL+C
             break
+        time.sleep(0.05)

py/manual_control.py

@@ -34,39 +34,44 @@ if __name__ == "__main__":
     while True:
         ch = getkey()
         ich = ord(ch)
-        if ich==27 or ich==3:
-            break
-        if ch=="g":
-            goforward()
-        elif ch=="b":
-            gobackward()
-        elif ch=="f":
-            turnleft()
-        elif ch=="h":
-            turnright()
-        elif ch=="1":
-            ispd=0
-        elif ch=="2":
-            ispd=1
-        elif ch=="3":
-            ispd=2
-        elif ch=="4":
-            idur=0
-        elif ch=="5":
-            idur=1
-        elif ch=="6":
-            idur=2
-        elif ch=="7":
-            idur=3
-        print ("speed go",tspdgo[ispd],"speed turn",tspdturn[ispd],"duration",tdur[idur])
-        print ("cardinal sonars")
-        print (mybot.get_cardinal_sonars())
-        print ("diagonal sonars")
-        print (mybot.get_diagonal_sonars())
-        print ("front odometers")
-        print (mybot.get_front_odos())
-        print ("rear odometers")
-        print (mybot.get_rear_odos())
+        if ch != 0:
+            print (ch,ich,ch==b'b')
+            if ich==27 or ich==3:
+                break
+            if ch=="g":
+                goforward()
+            elif ch==b"b":
+                gobackward()
+            elif ch=="f":
+                turnleft()
+            elif ch=="h":
+                turnright()
+            elif ch=="1":
+                ispd=0
+            elif ch=="2":
+                ispd=1
+            elif ch=="3":
+                ispd=2
+            elif ch=="4":
+                idur=0
+            elif ch=="5":
+                idur=1
+            elif ch=="6":
+                idur=2
+            elif ch=="7":
+                idur=3
+            """
+            print ("speed go",tspdgo[ispd],"speed turn",tspdturn[ispd],"duration",tdur[idur])
+            print ("cardinal sonars")
+            print (mybot.get_cardinal_sonars())
+            print ("diagonal sonars")
+            print (mybot.get_diagonal_sonars())
+            print ("front odometers")
+            print (mybot.get_front_odos())
+            print ("rear odometers")
+            print (mybot.get_rear_odos())
+        """
+        time.sleep(0.05)
 
     mybot.end() # clean end of the robot mission
 

vDartV2/vSimVar.py

@@ -9,7 +9,7 @@ tSimVar={"vSimTime" : 0.0,
          "vMagX" : 0.0,
          "vMagY" : 0.0,
          "vMagZ" : 0.0,
-         "vDoLog" : 1.0,
+         "vDoLog" : 0.0,         # vDoLog = 0.0 because of sometimes permission error occurs when creating log file in Windows
          "vCmdSpeedLeft" : 0.0,
          "vCmdSpeedRight" : 0.0,
          "vCmdSpeedNew" : 0.0,