4 files changed, 85 insertions, 0 deletions
diff --git a/MotionControl/Constraints.py b/MotionControl/Constraints.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/MotionControl/Constraints.py
diff --git a/MotionControl/MotionPlanner.py b/MotionControl/MotionPlanner.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/MotionControl/MotionPlanner.py
diff --git a/motiond/motiond b/motiond/motiond
new file mode 100755
index 0000000..6c2cadb
--- /dev/null
+++ b/motiond/motiond
@@ -0,0 +1,2 @@
+#!/usr/bin/python2
+# -*- encoding: utf-8 -*-
diff --git a/scratchpad.py b/scratchpad.py
index 56c886d..e5aac7b 100644
--- a/scratchpad.py
+++ b/scratchpad.py
@@ -1,5 +1,88 @@
 # -*- coding: utf-8 -*-
 
+import Queue
+import threading
+
+class Action:
+	EXECUTING = 0
+	FINISHED = 1
+	ABORTED = 2
+	def execute(self):
+		self.aborted = False
+		self.do_execute()
+	
+	def ended(self):
+		if self.aborted:
+			return True
+		return do_ended()
+
+	def abort(self):
+		self.do_abort()
+		self.aborted = True
+	
+	def do_execute():
+		raise NotImplementedError
+
+	def do_abort():
+		raise NotImplementedError
+
+	def do_ended():
+		raise NotImplementedError
+
+
+class ActionMotion(Action):
+	def __init__(self, axes, target, speed = None):
+		if len(axes) != len(target):
+			raise ValueError()
+		if speed and len(speed) != len(axes):
+			raise ValueError()
+
+		self.axes = axes
+		self.target_position = target
+		self.motion_speed = speed
+
+	def do_execute(self):
+		for i, axis enumerate(self.axes):
+			if self.speed:
+				axis.
+
+class ActionExecuter(threading.Thread)
+	def __init__(self, action):
+		self.action = action
+	
+	def start(self):
+		import threading, weakref
+		self.running = True
+		self.worker_thread = threading.Thread(target=ActionExecuter.run, args=(weakref.proxy(self),))
+	
+	def abort(self):
+		self.running = False
+		self.worker_thread.join()
+
+	def run(self):
+		action = self.action
+		try:
+			action.execute()
+		except ReferenceError:
+			action.abort()
+		
+
+class MotionControl(object):
+	def __init__(self, name):
+		self.name = name
+		self.active = True
+		self.worker_thread = threading.Thread(target = self.workerLoop, name = "MotionControl.worker_thread")
+		self.worker_thread.setDaemon(True)
+		self.worker_thread.start()
+
+	def __del__(self):
+
+	def workerLoop(self):
+		import time
+		while self.active:
+			print self.name
+			time.sleep(1)
+
 import threading
 import rpyc
 import Phytron