import nstbot
import numpy as np
periods = [2860, 4000, 5000, 6670]
freqs = 1000000 / np.array(periods, dtype=float)
use_bot = True
if not hasattr(nstbot, 'mybot'):
if use_bot:
bot = nstbot.OmniArmBot()
bot.connect(
nstbot.SocketList({
'motors': ['10.162.177.29', 54322],
'retina_left': ['10.162.177.29', 54320],
'retina_right': ['10.162.177.29', 54321],
'retina_arm': ['10.162.177.29', 54323],
}))
bot.tracker('retina_left',
True,
tracking_freqs=freqs,
streaming_period=10000)
bot.tracker('retina_right',
True,
tracking_freqs=freqs,
streaming_period=10000)
bot.tracker('retina_arm',
True,
tracking_freqs=freqs,
streaming_period=10000)
else:
import nstbot
import numpy as np
bot = nstbot.OmniArmBot()
bot.connect(nstbot.SocketList({'motors': ['10.162.177.29', 54322],
'retina_left': ['10.162.177.29', 54320]}))
bot.tracker('retina_left', True, tracking_freqs=[200], streaming_period=10000)
bot.send('motors', 'init_motors', '!G31610\n!G41170\n!G51276\n!G6210\n')
import nengo
model = nengo.Network()
with model:
#def bot_base(t, x):
# bot.base_pos(x, msg_period=0.1)
# return x
#base = nengo.Node(bot_base, size_in=3)
#ctrl_base = nengo.Node([0,0,0])
#nengo.Connection(ctrl_base, base)
def bot_arm(t, x):
offset = np.array([np.pi+1, np.pi-1.5, np.pi-1, 1])
bot.arm(x+offset, msg_period=0.1)
return x
arm = nengo.Node(bot_arm, size_in=4)
ctrl_arm = nengo.Node([0,0,0,0])
nengo.Connection(ctrl_arm, arm)
