def run():
global robotStatus
robotStatus = "at rest"
joystick = JoystickWrapper(0,1)
burst.init()
while True:
joystickStatus = joystick.getStatus()
try:
for command in Registrat.registered:
if command.isTriggeredBy(joystickStatus, robotStatus):
command.trigger(joystickStatus)
break
except QuitException:
break
time.sleep(0.001) # In either case, go to sleep for a while, so it's not THAT bad of a busy-wait.
burst.shutdown()
burst.init()
print "Controlling the robot at " + burst.ip + ":" + str(burst.port)
import BasicMotion
# Let the user choose an action, perform that action, repeat.
import Commands
from Commands import *
BasicMotion.headStiffnessOff()
try:
while True:
selection = raw_input("> ")
try:
x = Commands.CommandParser.parse(selection)
x.execute()
except UnsupportedCommand, e:
print "Error: Unsupported command (" + str(e) + ")."
except ParseError, e:
print "Error: Could not parse the command (" + str(e) + ")."
except NotLyingDownException, e:
print "Not lying down."
except UnsafeToGetUpException, e:
print "It's not safe to get up - the robot is probably lying on its side."
except TerminateSignal:
pass
burst.shutdown()