def sit():
""" Lowers the chassis to the ground """
global standing
standing = False
for node in nodes:
xjus.setPositionProfile(node, 500, 10000, 10000)
for node in nodes:
move(node, -degToPos(STAND_ANGLE))
wait()
def sit(): """ Lowers the chassis to the ground """ global standing standing = False for node in nodes: xjus.setPositionProfile(node, 500, 10000, 10000) for node in nodes: move(node, -degToPos(STAND_ANGLE)) wait()
def startTripod(turnAngle=0, back=False, duty_turn=0):
""" Move to the starting position of the tripod gait and fill the
buffer with some initial points. """
for node in nodes:
xjus.profilePositionMode(node)
xjus.setPositionProfile(node, 1500, 10000, 5000)
print "Moving to start position..."
for node in nodes:
[p, v, dt] = getTripodPVT(node,
TIME_OFFSET,
turnAngle=turnAngle,
back=back)
print("Start position. node: %d, p: %d, v: %d" % (node, p, v))
#if node in left:
if back:
move(node, -p, absolute=True)
else:
move(node, p, absolute=True)
wait()
for node in nodes:
xjus.interpolationMode(node)
# Start time is half of dt
t = (DT / 1000.) / 2 + TIME_OFFSET
# fill buffer
for i in range(BUFFER_MAX_LIMIT / 2):
[nA, pA, vA, tA] = addTripodPoint(t,
turnAngle,
back=back,
duty_turn=duty_turn)
addPvtArray(nA, pA, vA, tA)
t += DT / 1000.
for node in nodes:
xjus.startIPM(node)
xjusAnalysis.startAccel(TRIAL_ID, PLOT_ANALYSIS)
xjusAnalysis.startAvgVelocity(TRIAL_ID)
xjusAnalysis.startAvgCurrent(TRIAL_ID, PLOT_ANALYSIS)
return t
def stand():
""" Raises the chassis into a standing position """
global standing
standing = True
for node in nodes:
xjus.setPositionProfile(node, 500, 10000, 10000)
for node in nodes:
move(node, degToPos(STAND_ANGLE))
wait()
for node in nodes:
xjus.zeroPosition(node)
def stand(): """ Raises the chassis into a standing position """ global standing standing = True for node in nodes: xjus.setPositionProfile(node, 500, 10000, 10000) for node in nodes: move(node, degToPos(STAND_ANGLE)) wait() for node in nodes: xjus.zeroPosition(node)
def startTripod(turnAngle=0, back=False, duty_turn=0):
""" Move to the starting position of the tripod gait and fill the
buffer with some initial points. """
for node in nodes:
xjus.profilePositionMode(node)
xjus.setPositionProfile(node, 1500, 10000, 5000)
print "Moving to start position..."
for node in nodes:
[p, v, dt] = getTripodPVT(node, TIME_OFFSET, turnAngle=turnAngle, back=back)
print("Start position. node: %d, p: %d, v: %d" % (node, p, v))
#if node in left:
if back:
move(node, -p, absolute=True)
else:
move(node, p, absolute=True)
wait()
for node in nodes:
xjus.interpolationMode(node)
# Start time is half of dt
t = (DT/1000.) / 2 + TIME_OFFSET
# fill buffer
for i in range(BUFFER_MAX_LIMIT/2):
[nA, pA, vA, tA] = addTripodPoint(t, turnAngle, back=back, duty_turn=duty_turn)
addPvtArray(nA, pA, vA, tA)
t += DT/1000.
for node in nodes:
xjus.startIPM(node)
xjusAnalysis.startAccel(TRIAL_ID, PLOT_ANALYSIS)
xjusAnalysis.startAvgVelocity(TRIAL_ID)
xjusAnalysis.startAvgCurrent(TRIAL_ID, PLOT_ANALYSIS)
return t;
def moveToFullRotation(node):
p = getPosition(node)
targetForward = p + (REV - (p % REV))
targetBack = p - (p % REV)
forwardDist = targetForward - p
backwardDist = p - targetBack
#print("node: %s, p: %d, forward: %d, back: %d" % (name[node], p, forwardDist, backwardDist))
xjus.setPositionProfile(node, 1500, 10000, 5000)
if (backwardDist < REV / 15.):
#print("moving backward to %d" % targetBack)
move(node, targetBack, absolute=True)
else:
#print("moving forward to %d" % targetForward)
move(node, targetForward, absolute=True)
def moveToFullRotation(node):
p = getPosition(node)
targetForward = p + (REV - (p % REV))
targetBack = p - (p % REV)
forwardDist = targetForward - p
backwardDist = p - targetBack
#print("node: %s, p: %d, forward: %d, back: %d" % (name[node], p, forwardDist, backwardDist))
xjus.setPositionProfile(node, 1500, 10000, 5000)
if (backwardDist < REV/15.):
#print("moving backward to %d" % targetBack)
move(node, targetBack, absolute=True)
else:
#print("moving forward to %d" % targetForward)
move(node, targetForward, absolute=True)
