def init_motion(self):
dm.initMotionManager()
dm.playMotion(1)
dm.headMoveToHome()
while True:
# Get button states
btn = dm.getButton()
# If reset button is pressed change state back to init state
if btn == Button.RESET:
dm.walkStop()
dm.motionLoadINI(WALKING_INI)
state = States.INIT
if state == States.INIT:
print("Init.")
sleep(2)
# Sets up robot initial robot. This state is run only once.
dm.walkLoadINI(WALKING_INI)
dm.playMotion(52) # Bow Walk ready motion
dm.headMoveToHome()
look_dir = 1 # This is used to change directions when looking for the target
state = States.READY
elif state == States.READY:
print("Ready.")
# Wait for the start button press
if btn == Button.START: state = States.FIND_TARGET
# Look for target
elif state == States.FIND_TARGET:
print("Find Target.")
# Get obj info from tracker
from pygame.locals import *
import darwin_motions as dm
from time import sleep
DELTA_VEL = 0.5
pygame.init()
screen = pygame.display.set_mode((300, 300))
CONFIG_INI = "/home/juarez/Darwin-tools/Data/config.ini"
# Sets up all the Action, Walking, Head and Motion Manager
dm.initMotionManager(CONFIG_INI)
# Stand up in a nice motion
dm.playMotion(51)
dm.headMoveToHome()
dm.walkPrintParams()
X_AMPLITUDE = 0.0
Y_AMPLITUDE = 0.0
A_AMPLITUDE = 0.0
while True:
# Get current values of pan and tilt
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(1)
elif event.type == KEYDOWN:
if event.key == K_SPACE:
if dm.walkIsRunning():
while True:
# Get button states
btn = dm.getButton()
# If reset button is pressed change state back to init state
if btn == Button.RESET:
dm.walkStop()
dm.motionLoadINI(WALKING_INI)
state = States.INIT
if state == States.INIT:
print("Init.")
sleep(2)
# Sets up robot initial robot. This state is run only once.
dm.walkLoadINI(WALKING_INI)
dm.playMotion(52) # Bow Walk ready motion
dm.headMoveByAngle(70, 90)
look_dir = 1 # This is used to change directions when looking for the target
state = States.READY
elif state == States.READY:
print("Ready.")
# Wait for the start button press
if btn == Button.START:
find_ticks = 0 # Used in FIND_TARGET STATE
state = States.FIND_TARGET
# Look for target
elif state == States.FIND_TARGET:
import pygame
import sys
from pygame.locals import *
import darwin_motions as dm
from time import sleep
pygame.init()
screen = pygame.display.set_mode((300, 300))
CONFIG_INI = "/home/juarez/Darwin-tools/Data/config.ini"
# Sets up all the Action, Walking, Head and Motion Manager
dm.initMotionManager(CONFIG_INI)
# Stand up in a nice motion
dm.playMotion(16)
dm.headMoveToHome()
while True:
# Get current values of pan and tilt
cur_pan = dm.headGetPan()
cur_tilt = dm.headGetTilt()
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(1)
keys = pygame.key.get_pressed()
# Amount to increment in each angle
def _init_motion(self):
dm.initMotionManager(DEFAULT_CONFIG)
dm.playMotion(52)
dm.headMoveToHome()
