def run(self):
while not self.should_stop():
if self.should_pause(): self.wait_to_resume()
while not (self.posture_is(self.defaut_posture)):
time.sleep(0.1)
for m in self.robot.motors:
m.led = "green"
m.compliant = True
my_record = MoveRecorder(self.robot, 50, self.robot.motors)
my_record.start()
sleep = int(self.record_time + (self.record_time / 5.))
for i in range(sleep):
if not self.should_stop():
if self.should_pause(): self.wait_to_resume()
for m in self.robot.motors:
m.led = "green"
time.sleep(0.5)
for m in self.robot.motors:
m.led = "off"
time.sleep(0.5 - ((0.5 / sleep) * i))
my_record.stop()
#my_record.wait_to_stop()
if not self.should_stop():
if self.should_pause(): self.wait_to_resume()
self.robot.tinsel.colors = ['red']
self.robot.tinsel.freq = 1
self.robot.tinsel.start()
self.robot._primitive_manager.remove(self)
# patch pour passer des fake moteurs de la primitive ProgByDemo aux moteurs reel de l ergo
my_play = MovePlayer(self.robot, my_record.move)
my_play.start()
for t in range(self.record_time * 2):
if not self.should_stop():
if self.should_pause(): self.wait_to_resume()
time.sleep(0.5)
if my_play.is_alive(): my_play.stop()
self.robot.tinsel.stop()
self.robot._primitive_manager.add(
self
) # on redonne le control des moteurs a la primitive ProgByDemo
duration = int(max(self.distance_with(
self.defaut_posture))) / 100.
for m in self.robot.motors:
m.compliant = False
m.goto_position(self.defaut_posture[m.id - 1], duration)
time.sleep(duration)
