def TestReadOnly():
servos = LX16AServos()
tester = SmartServoManager(lX16AServos=servos)
tester.AddMasterServo(servoId=5)
tester.SetReadOnly(servoId=5, isReadOnly=True)
tester.Start()
while (True):
value = tester.ReadServo(5)
print(value)
time.sleep(1)
def TestReadSpeed():
servos = LX16AServos()
tester = SmartServoManager(lX16AServos=servos)
tester.AddMasterServo(servoId=1)
tester.SetReadOnly(servoId=1, isReadOnly=True)
tester.AddMasterServo(servoId=2)
tester.SetReadOnly(servoId=2, isReadOnly=True)
tester.AddMasterServo(servoId=3)
tester.SetReadOnly(servoId=3, isReadOnly=True)
tester.Start()
while (True):
value = tester.ReadServo(1)
def TestSlave():
servos = LX16AServos()
tester = SmartServoManager(lX16AServos=servos, ramp=0, maxSpeed=1)
tester.AddMasterServo(servoId=5)
tester.AddSlaveServo(servoId=6, masterServoId=5, reverseToMaster=-1)
tester.Start()
plus = 100
while (True):
plus = -plus
tester.MoveServo(5, 500 + plus)
while (tester.allTargetsReached == False):
time.sleep(0.1)
def __init__(self):
self._servos = LX16AServos()
self._servoManager = SmartServoManager(lX16AServos=self._servos,
ramp=0,
maxSpeed=1)
self._arms = Arms(self._servoManager)
self._neck = Neck(self._servoManager)
self._servoManager.Start()
self._neck.SetLeftRight(0)
self._neck.SetUpDown(0)
self._bodyLeds = RgbLeds([
my_path + '/../Gfx/Body/hearth2.gif',
my_path + '/../../RoobertGifs/e8nZC.gif',
my_path + '/../../RoobertGifs/U9LwW86.gif',
my_path + '/../../RoobertGifs/Spin_Toad.gif',
my_path + '/../../RoobertGifs/haleye.gif',
my_path + '/../../RoobertGifs/Yoshi_render.gif'
])
self.Release()
def exit_handler():
tester.Release()
servoManager.Release()
servos.Release()
if __name__ == "__main__":
atexit.register(exit_handler)
ended = False
servos = LX16AServos()
servoManager = SmartServoManager(lX16AServos=servos, ramp=0, maxSpeed=1)
tester = Arms(servoManager)
#tester.MirrorRightArmToLeft();
#tester.PrintRightArmValues()
tester.PrintLeftArmValues()
servoManager.Start()
#time.sleep(1);
#tester.SetArm(gesture=Arms._rightCenteredValues, left=True);
#tester.WaitTillTargetsReached();
#while(True):
# print()
def bigTest():
ended = False
servos = LX16AServos()
tester = SmartServoManager(
lX16AServos=servos,
servoIds=[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15],
ramp=0,
maxSpeed=1)
tester.SetMaxStepsPerUpdate(5, 2)
tester.SetMaxStepsPerUpdate(6, 3)
armHanging = [[1, 151], [2, 168], [3, 455], [4, 613], [5, 471], [6, 550]]
wink1 = [[1, 374], [2, 451], [3, 693], [4, 816], [5, 565]]
wink2 = [[1, 192], [2, 678], [3, 888], [4, 872], [5, 509]]
strechSide = [[1, 299], [2, 249], [3, 663], [4, 660], [5, 848]]
lookHand = [[1, 592], [2, 90], [3, 361], [4, 787], [5, 795]]
ghettoFist1 = [[1, 105], [2, 140], [3, 525], [4, 910], [5, 116], [6, 420]]
ghettoFist2 = [[1, 339], [2, 138], [3, 525], [4, 753], [5, 116], [6, 420]]
closeHand = [[6, 420]]
openHand = [[6, 550]]
lookRightHand = [[13, 500 - 150], [14, 500 + 150], [15, 500 - 250]]
lookFront = [[13, 500], [14, 500], [15, 500]]
#tester.MoveServo(4,613);
#while(True):
if (True):
tester.MoveToAndWait(lookFront + armHanging)
time.sleep(1)
tester.MoveToAndWait(openHand)
tester.MoveToAndWait(closeHand)
tester.MoveToAndWait(strechSide + lookRightHand)
tester.MoveToAndWait(openHand)
time.sleep(2)
for wink in range(0, 1):
tester.MoveToAndWait(wink1)
tester.MoveToAndWait(wink2)
tester.MoveToAndWait(armHanging)
time.sleep(1)
tester.MoveToAndWait(strechSide)
time.sleep(2)
tester.MoveToAndWait(armHanging)
time.sleep(1)
tester.MoveToAndWait(ghettoFist1)
tester.MoveToAndWait(ghettoFist2)
tester.MoveToAndWait(ghettoFist1)
tester.MoveToAndWait(armHanging)
time.sleep(2)
tester.Release()
print("done")