def __init__(self):
Lucy.__init__(self)
self.comm_tty = CommSerial()
self.comm_tty.connect()
self.actuator = Actuator(self.comm_tty)
self.defaultSpeed = 600 #TODO change this, use configuration files
self.initialPoses = {}
#checking communication with motors
for joint in self.joints:
jointID = self.robotConfiguration.loadJointId(joint)
print jointID
self.initialPoses[joint] = self.actuator.get_position(jointID).toDegrees()
print jointID, joint, self.initialPoses[joint]
time.sleep(0.1)
self.actuator.led_state_change(jointID, 1)
time.sleep(0.1)
time.sleep(1)
for joint in self.joints:
self.actuator.led_state_change(self.robotConfiguration.loadJointId(joint), 0)
# but WITHOUT ANY WARRANTY; without even the implied warranty of # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA import time import Communication from Communication import CommSimulator from Communication import CommSerial import Actuator from compiler.ast import Print #comm = CommSimulator() #TODO read a configuration file to use the correct parameters for CommSimulator comm_tty = CommSerial( ) #TODO read a configuration file to use the correct parameters for CommSimulator #comm.connect() comm_tty.connect() #actuator = Actuator.Actuator(comm) actuator_tty = Actuator.Actuator(comm_tty) motor_id = 6 print "actuator_tty.set_AngleLimit(motor_id, 0x0000, 0x0000)" actuator_tty.set_AngleLimit(motor_id, 0x0000, 0x0000) time.sleep(1) print "actuator_tty.setTorque(motor_id, False)" actuator_tty.setTorque(motor_id, False) time.sleep(1)
# it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA import time import Communication from Communication import CommSerial import Actuator #comm = CommSimulator() #TODO read a configuration file to use the correct parameters for CommSimulator comm_tty = CommSerial() #TODO read a configuration file to use the correct parameters for CommSimulator #comm.connect() comm_tty.connect() #actuator = Actuator.Actuator(comm) actuator_tty = Actuator.Actuator(comm_tty) #actuator_tty.setear_id(1) idMotor = 6 #actuator_tty.setear_id(6) #actuator_tty.reset(idMotor) actuator_tty.test(idMotor)
'''
Created on May 7, 2013
@author: matias
'''
import time
from Communication import CommSerial
import Actuator
comm_tty = CommSerial()
comm_tty.connect()
actuator = Actuator.Actuator(comm_tty)
motor_id = 99
actuator.reset(0xfe)
time.sleep(2)
actuator.setear_id(motor_id)
for i in range(1, 50):
if (i%2 == 0):
actuator.led_state_change(motor_id, 1)
else:
actuator.led_state_change(motor_id, 0)
time.sleep(.1)
#
class PhysicalLucy(Lucy):
def __init__(self):
Lucy.__init__(self)
self.comm_tty = CommSerial()
self.comm_tty.connect()
self.actuator = Actuator(self.comm_tty)
self.defaultSpeed = 600 #TODO change this, use configuration files
self.initialPoses = {}
#checking communication with motors
for joint in self.joints:
jointID = self.robotConfiguration.loadJointId(joint)
print jointID
self.initialPoses[joint] = self.actuator.get_position(jointID).toDegrees()
print jointID, joint, self.initialPoses[joint]
time.sleep(0.1)
self.actuator.led_state_change(jointID, 1)
time.sleep(0.1)
time.sleep(1)
for joint in self.joints:
self.actuator.led_state_change(self.robotConfiguration.loadJointId(joint), 0)
def getPosesExecutedByStepQty(self):
return 1
def executePose(self, pose):
#set positions and wait that the actuator reaching that position
#TODO tener en cuenta los motores que están invertidos, creo que los únicos que están quedando son los de los hombros
for joint in self.RobotImplementedJoints:
if joint == "L_Hip_Pitch":
angle = pose.getValue(joint)
print "el angulo es: ", angle
angleAX = AXAngle()
angleAX.setDegreeValue(300 - angle)
#TODO implement method for setting position of all actuators at the same time
self.actuator.move_actuator(self.robotConfiguration.loadJointId(joint), int(angleAX.getValue()), self.defaultSpeed)
self.poseExecuted = self.poseExecuted + 1
print "pose executed!"
time.sleep(0.2)
'''
for joint in self.RobotImplementedJoints:
print "el joint se reporta como: ", joint
angle = pose.getValue(joint)
angleAX = AXAngle()
angleAX.setDegreeValue(angle)
#TODO implement method for setting position of all actuators at the same time
self.actuator.move_actuator(self.robotConfiguration.loadJointId(joint), int(angleAX.getValue()), self.defaultSpeed)
self.poseExecuted = self.poseExecuted + 1
print "pose executed!"
time.sleep(0.05)
'''
def stopLucy(self):
pass
'''
for joint in self.joints:
self.actuator.move_actuator(self.robotConfiguration.loadJointId(joint), self.initialPoses[joint], self.defaultSpeed)
'''
def getFrame(self):
error = False
pose = {}
for joint in self.joints:
value = self.actuator.get_position(self.robotConfiguration.loadJointId(joint))
pose[joint] = value
return error, pose
def getFitness(self, secuenceLength, concatenationGap):
return 0
def isLucyUp(self):
return True
class PhysicalLucy(Lucy):
def __init__(self):
Lucy.__init__(self)
self.comm_tty = CommSerial()
self.comm_tty.connect()
self.actuator = Actuator.Actuator(self.comm_tty)
self.defaultSpeed = 600 # TODO change this, use configuration files
self.initialPoses = {}
# checking communication with motors
for joint in self.joints:
jointID = self.robotConfiguration.loadJointId(joint)
print jointID
self.initialPoses[joint] = self.actuator.get_position(jointID).toDegrees()
print jointID, joint, self.initialPoses[joint]
time.sleep(0.1)
self.actuator.led_state_change(jointID, 1)
time.sleep(0.1)
time.sleep(1)
for joint in self.joints:
self.actuator.led_state_change(self.robotConfiguration.loadJointId(joint), 0)
def executePose(self, pose):
# set positions and wait that the actuator reaching that position
dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints()
RobotImplementedJoints = []
for joint in self.joints:
if joint not in dontSupportedJoints:
RobotImplementedJoints.append(joint)
for joint in RobotImplementedJoints:
angle = pose.getValue(joint)
angleAX = AXAngle()
angleAX.setDegreeValue(angle)
# TODO implement method for setting position of all actuators at the same time
self.actuator.move_actuator(
self.robotConfiguration.loadJointId(joint), int(angleAX.getValue()), self.defaultSpeed
)
self.poseExecuted = self.poseExecuted + 1
time.sleep(3)
def stopLucy(self):
for joint in self.joints:
self.actuator.move_actuator(
self.robotConfiguration.loadJointId(joint), self.initialPoses[joint], self.defaultSpeed
)
def getFrame(self):
error = False
pose = {}
for joint in self.joints:
value = self.actuator.get_position(self.robotConfiguration.loadJointId(joint))
pose[joint] = value
return error, pose
def getFitness(self, endFrameExecuted=False):
return 0
def isLucyUp(self):
return True
