def idle(self):
GLWidgetProgram.idle(self)
t = time.time()-self.t0
if motion.robot.left_mq.moving():
self.lastLeftMove = t
if motion.robot.right_mq.moving():
self.lastRightMove = t
if t < self.lastLeftMove + 3:
#print "Saving left",t
qsensed = motion.robot.left_limb.sensedPosition()
qcmd = motion.robot.left_limb.commandedPosition()
self.outputFileLeft.write(str(t)+",")
self.outputFileLeft.write(','.join(str(v) for v in qsensed+qcmd))
self.outputFileLeft.write('\n')
if t < self.lastRightMove + 3:
#print "Saving right",t
qsensed = motion.robot.right_limb.sensedPosition()
qcmd = motion.robot.right_limb.commandedPosition()
self.outputFileRight.write(str(t)+",")
self.outputFileRight.write(','.join(str(v) for v in qsensed+qcmd))
self.outputFileRight.write('\n')
def idle(self):
GLWidgetProgram.idle(self)
