def _on_left_down(self, event):
#TODO: change event to fire with mouse key down, not only at the moment press
dxy = event.GetPosition()
dc = wx.ClientDC(self.canvas)
dc.SetPen(wx.Pen('WHITE', 1))
self.canvas.Draw(True)
dc.DrawLine(self.canvas_size / 2, self.canvas_size / 2, dxy[0], dxy[1])
dc.DrawCircle(dxy[0], dxy[1], 3)
coordinates = event.GetCoords()
self.runner(self.bot.shift_body_angle,
MathTools.coordinates2angle(*coordinates),
MathTools.vector_length(*coordinates))
self.runner(self.bot.sleep, 0.5)
def _angles2positions(self, alist):
plist = []
for a in alist:
if 'position' not in a.keys():
if a['servo'] in self.inverted:
a['position'] = int(round(
MathTools.interpolate(a['angle'], 180, -180, MY_DRIVE_SPEED_MIN, MY_DRIVE_SPEED_MAX)
))
else:
a['position'] = int(round(
MathTools.interpolate(a['angle'], -180, 180, MY_DRIVE_SPEED_MIN, MY_DRIVE_SPEED_MAX)
))
plist.append(a)
return plist
def _on_left_down(self, event):
#TODO: change event to fire with mouse key down, not only at the moment press
dxy = event.GetPosition()
dc = wx.ClientDC(self.canvas)
dc.SetPen(wx.Pen('WHITE', 1))
self.canvas.Draw(True)
dc.DrawLine(self.canvas_size / 2, self.canvas_size / 2, dxy[0], dxy[1])
dc.DrawCircle(dxy[0], dxy[1], 3)
coordinates = event.GetCoords()
angle = MathTools.interpolate(MathTools.vector_length(coordinates[0], coordinates[1]), 0, self.canvas_size, 0, 30)
self.runner(self.bot.rotate_body,
angle,
(coordinates[1], -coordinates[0], 0))
self.runner(self.bot.sleep, 0.5)
def rotate_body(self, angle=0, axis_vector=(0, 0, 0)):
from math import cos, sin
angle = math.radians(angle)
(l, m, n) = MathTools.normalize(*axis_vector)
rotation_matrix = numpy.array([[l * l * (1 - cos(angle)) + cos(angle),
m * l * (1 - cos(angle)) - n * sin(angle),
n * l * (1 - cos(angle)) + m * sin(angle)],
[l * m * (1 - cos(angle)) + n * sin(angle),
m * m * (1 - cos(angle)) + cos(angle),
n * m * (1 - cos(angle)) - l * sin(angle)],
[l * n * (1 - cos(angle)) - m * sin(angle),
m * n * (1 - cos(angle)) + l * sin(angle),
n * n * (1 - cos(angle)) + cos(angle)]])
bot_command = []
for l in self.legs:
bot_command.extend(l.rotate(rotation_matrix))
self._send(bot_command)
def _on_left_down(self, event):
self.runner(self.bot.make_step, MathTools.coordinates2angle(*event.GetCoords()))