def __init__(self):
"""
Initializes the controller's motor which behaves like an oscillator and creates two connectors.
"""
Robot.__init__(self)
# Derive the oscillator id from its name, which is usually s.th. like "module_1"
self.id = int(self.getName()[-1]) - 1
# Get access to the motor
self.motor = self.getMotor('motor')
# Get access to the connectors
self.rear_connector = self.getConnector('rear_connector')
self.front_connector = self.getConnector('front_connector')
# The configuration of the oscillator is stored in a file which can be changed by a supervisor
self.config = {}
try:
time.sleep(0.5)
self.load_configuration()
except:
self.config = {
'active': False
}
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
# initialize stuff
self.findAndEnableDevices()
self.loadMotionFiles()
self.printHelp()
def __init__(self):
Robot.__init__(self)
# initialize stuff
self.number_of_params = 5
self.params = [
'location', 'hand_configuration', 'hand_orientation', 'movement',
'movement_speed'
]
self.findAndEnableDevices()
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
self.shouldTurn120Degrees = False
self.turnsMade = 0
# initialize stuff
self.findAndEnableDevices()
self.loadMotionFiles()
self.printHelp()
def __init__(self, noise):
Robot.__init__(self)
self.noise = noise
self.left_wheel = self.getMotor('left wheel motor')
self.right_wheel = self.getMotor('right wheel motor')
self.front_slider = self.getMotor('front slider motor')
self.bottom_slider = self.getMotor('bottom slider motor')
self.left_wheel.setPosition(float('inf'))
self.right_wheel.setPosition(float('inf'))
self.front_slider.setPosition(float('inf'))
self.bottom_slider.setPosition(float('inf'))
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
# initialize stuff
self.findAndEnableDevices()
# self.receive_motion_file()
# to receive messages:
self.receiver = self.getReceiver('receiver')
self.receiver.enable(self.timeStep)
self.printHelp()
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
# initialize stuff
self.findAndEnableDevices()
self.loadMotionFiles()
#self.printHelp()
# ROS
rospy.init_node('controller', anonymous=True)
pub = rospy.Publisher('motor', Float64, queue_size=10)
rospy.Subscriber("spikes", String, self.callback)
def __init__(self):
Robot.__init__(self)
# You should insert a getDevice-like function in order to get the
# instance of a device of the robot. Something like:
# led = self.getLed('ledname')
print "Program Start"
# ---------------------------------------------
# ------------- Robot Start Setup -------------
# ---------------------------------------------
def runCommand(self, key):
self.RHP = self.getServo('RHP')
#self.setPosition(RHP, 45.2)
# ---------------------------------------------
# ------------- Robot End Setup ---------------
# ---------------------------------------------
# from http://wiki.python.org/moin/UdpCommunication
UDP_IP="127.0.0.1"
UDP_PORT=11000
sock = socket.socket( socket.AF_INET, # internet
socket.SOCK_DGRAM ) # UDP
sock.bind( (UDP_IP,UDP_PORT) )
# Main loop
while True:
print "waiting for UDP"
rxData, addr = sock.recvfrom( 1024 ) # buffer size is 1024 bytes
print "received message Length:", len(rxData)
print "Data 1:", ord(rxData[1]) #print "Data 1:", data;
N = ord(rxData[2]) # message length
Nn = len(rxData) # received message length
NN = Nn - N # difference between received length and message length (should be 4)
#Servo.setPosition("RHP",20)
#for i in range(0,N)
# Servo.setPosition("RHP",20)
self.RHP.setPosition(25.2)
def __init__(self):
Robot.__init__(self)
#timestep info
self.timeStep = 40
self.f = finfo(float)
#Choose Humanoid Robot
self.bot = Nao(self, self.timeStep)
#Keep track of starting and stopping of walk cycle
self.idle = True
self.stepStop = True
self.stepStart = True
self.stepCount = 0
self.stepSign = -1 # -1 for right support, +1 for left support
self.tStep = 0.5
self.upPhase = 0.3
self.downPhase = 0.8
self.t0 = self.getTime()
self.t = 0
self.dt = 0
self.tPhase = 0.
self.phShift = 0.
self.key = 0
# define the motion which is currently playing
self.currentlyPlaying = None
self.start()
#Print Menu
self.bot.printHelp()
self.walkForward()
while not self.key:
self.key = self.keyboardGetKey()
self.bot.update()
self.simulationStep()
def __init__(self):
Robot.__init__(self)
#timestep info
self.timeStep = 40
self.f = finfo(float)
#Choose Humanoid Robot
self.bot = Nao(self, self.timeStep)
#Keep track of starting and stopping of walk cycle
self.idle = True
self.stepStop = True
self.stepStart = True
self.stepCount = 0
self.stepSign = -1 # -1 for right support, +1 for left support
self.tStep = 0.5
self.upPhase = 0.3
self.downPhase = 0.8
self.t0 = self.getTime()
self.t = 0
self.dt = 0
self.tPhase = 0.
self.phShift = 0.
self.key = 0
# define the motion which is currently playing
self.currentlyPlaying = None
self.start()
#Print Menu
self.bot.printHelp()
self.walkForward()
while not self.key:
self.key = self.keyboardGetKey()
self.bot.update()
self.simulationStep()
def __init__(self):
Robot.__init__(self)
self.tick = 0
self.parse_args()
# initialize stuff
self.findAndEnableDevices()
if self.args.camera:
# initialize top image sender
w = self.cameraTop.getWidth()
h = self.cameraTop.getHeight()
self.topImageServer = ImageServer(self.args.tcam_addr, w, h,
CamIndex.TOP)
# initialize bottom image sender
w = self.cameraBottom.getWidth()
h = self.cameraBottom.getHeight()
self.bottomImageServer = ImageServer(self.args.bcam_addr, w, h,
CamIndex.BOTTOM)
def __init__(self):
# initialise the underlying Robot
Robot.__init__(self)
# get the world's timestep and initialise the sensors
self.timestep = int(self.getBasicTimeStep())
# variables that help the robot work
self.pos = np.zeros(3)
self.vel = np.zeros(3)
self.angle = 0 # angle to x axis
self.angvel = 0
self.forward = np.zeros(
3) # unit vector in the direction we are facing
self.posHist = np.zeros(
(10, 3)) # stores last 10 positions of robot - maybe unneccesary
self.distances = np.zeros(
(10,
2)) # last 10 distances, 10 rows of [leftDistance, rightDistance]
self.clawAngle = 0.0
self.simTime = self.timestep
self.scheduleTuples = []
self.behaviour = lambda: None
self.greenLevel = 0.0
self.redLevel = 0.0
self.boxFirstEdgeTime = None
self.receivedData = np.array([])
self.otherRobot = np.array([[0, 0], [0, 0], [0, 0]])
self.otherRobotPos = np.array([0, 0, 0])
self.pointsSearched = 0 # number of points in the grid that we have spun around completely and cleared
self.directionCleared = np.array(
[1, 0, 0]
) # direction that we have cleared up to on the current point - starting from 1, 0, 0
self.ourColourBoxes = []
self.otherColourBoxes = []
self.othersPoints = 0
self.reverseTime = 0
self.objectAvoider = 0
self.angleSearchSum = 0
# Robot dependant variables
if sys.argv[1] == "red":
self.colour = Colour.RED
self.home = redCentre
elif sys.argv[1] == "green":
self.colour = Colour.GREEN
self.home = greenCentre
# x, y and z coords for convenience
self.x, self.y, self.z = self.pos
# some functions to help set wheel speeds
self.stop = lambda: self.setWheelSpeeds(0.0, 0.0)
self.spin = lambda: self.setWheelSpeeds(1.5, 3.0)
# function to get distance sensor readings
self.getDistance = lambda: distanceFromReading(
np.array([
self.leftDistanceSensor.getValue(),
self.rightDistanceSensor.getValue()
]))
# initialise the sensors and enter the main loop
self.initialiseSensors()
self.mainLoop()
def __init__(self):
Robot.__init__(self)
# define the motion which is currently playing
self.currentlyPlaying = None
self.key = 0
self.timeStep = 40
self.joints = []
self.findAndEnableDevices()
self.f = finfo(float)
###AshGavs edit
self.fsr = self.getFsr()
self.idle = True
self.stepStop = True
self.stepStart = True
self.stepCount = 0
self.stepSign = -1 # -1 for right support, +1 for left support
self.tStep = 0.5
self.upPhase = 0.3
self.downPhase = 0.8
# Nao details:
self.bodyHeight = 0.28
self.dHeight = 0.00
self.tZmp = 0.17
self.stepHeight = 0.025
self.bodyRoll = 0 * pi / 180
self.bodyTilt = 0 * pi / 180
self.supportX = 0.015
self.supportY = 0
self.velCurrent = array([0., 0., 0.0])
self.velCommand = array([0., 0., 0.])
#self.setVelocity(array([1., 0, 0.]))
self.velMax = 0.06
self.velScale = array([1., 2.5, .15])
self.velChange = 0.25
self.velOdometry = array([0., 0., 0.])
self.odometry = array([0., 0., 0.])
self.odometryScale = 0.99
# self.footX = 0
self.footX = -self.supportX
self.footY = 0.0525
self.uLeft0 = array([self.footX, self.footY, 0.])
self.uLeft = self.uLeft0
self.uLeft1 = self.uLeft
self.uLeft2 = self.uLeft
self.uRight0 = array([self.footX, -self.footY, 0.])
self.uRight = self.uRight0
self.uRight1 = self.uRight
self.uRight2 = self.uRight
self.uBody = array([0., 0., 0.])
self.uBody1 = self.uBody
self.uBody2 = self.uBody
self.qLegs = zeros((12, 1), float)
self.legsIndex = range(6, 18) #[6:18] #changed 7 to 6
self.qLegsIndexStart = 6
self.qLegsIndexStop = 18
self.hsupT = array([.8, .8, .8, .8, .6, .6])
self.hardnessSupport = self.hsupT.transpose()
self.hswingT = array([.8, .6, .6, .6, .2, .2])
self.hardnessSwing = self.hswingT.transpose()
self.qArms = zeros((8, 1), float)
self.qArmsT = array([120, 15, -90, -60, 120, -15, 90, 60])
self.qArmsT2 = self.qArmsT.transpose()
self.qArms0 = (pi / 180) * self.qArmsT2
print "self.qArms0: "
print self.qArms0
self.armsIndex1Start = 0
self.armsIndex1Stop = 3
self.armsIndex2Start = 13
self.armsIndex2Stop = 15
self.hardnessArms = ones((8, 1), float) * .2
#self.setJointName("LAnklePitch", "RAnklePitch", -.2)
#self.setJointName("LHipPitch", "RHipPitch", -.2)
#self.setJointName("LKneePitch", "RKneePitch", -.2)
#self.setJointName("LHipPitch", "RHipPitch", -.3)
#self.setJointName("LHipRoll", "RHipRoll", -.2)
self.t0 = self.getTime()
self.tPhase = 0.
self.phShift = 0.
self.start()
self.printHelp()
#Move Left
self.setVelocity([0.0, 0.03, 0.0])
while not self.key:
self.key = self.keyboardGetKey()
self.update()
self.simulationStep()
def __init__(self):
Robot.__init__(self)
self.findAndEnableDevices()
def __init__(self):
Robot.__init__(self)
# define the motion which is currently playing
self.currentlyPlaying = None
self.key = 0
self.timeStep = 40
self.joints = []
self.findAndEnableDevices()
self.f = finfo(float)
###AshGavs edit
self.fsr = self.getFsr()
self.idle = True
self.stepStop = True
self.stepStart = True
self.stepCount = 0
self.stepSign = -1 # -1 for right support, +1 for left support
self.tStep = 0.5
self.upPhase = 0.3
self.downPhase = 0.8
# Nao details:
self.bodyHeight = 0.28
self.dHeight = 0.00
self.tZmp = 0.17
self.stepHeight = 0.025
self.bodyRoll = 0*pi/180
self.bodyTilt = 0*pi/180
self.supportX = 0.015
self.supportY = 0
self.velCurrent = array([0., 0., 0.0])
self.velCommand = array([0., 0., 0.])
#self.setVelocity(array([1., 0, 0.]))
self.velMax = 0.06
self.velScale = array([1., 2.5, .15])
self.velChange = 0.25
self.velOdometry = array([0., 0., 0.])
self.odometry = array([0., 0., 0.])
self.odometryScale = 0.99
# self.footX = 0
self.footX = -self.supportX
self.footY = 0.0525
self.uLeft0 = array([self.footX, self.footY, 0.])
self.uLeft = self.uLeft0
self.uLeft1 = self.uLeft
self.uLeft2 = self.uLeft
self.uRight0 = array([self.footX, -self.footY, 0.])
self.uRight = self.uRight0
self.uRight1 = self.uRight
self.uRight2 = self.uRight
self.uBody = array([0., 0., 0.])
self.uBody1 = self.uBody
self.uBody2 = self.uBody
self.qLegs = zeros((12,1),float)
self.legsIndex = range(6,18)#[6:18] #changed 7 to 6
self.qLegsIndexStart = 6
self.qLegsIndexStop = 18
self.hsupT = array([.8, .8, .8, .8, .6, .6])
self.hardnessSupport = self.hsupT.transpose()
self.hswingT = array([.8, .6, .6, .6, .2, .2])
self.hardnessSwing = self.hswingT.transpose()
self.qArms = zeros((8,1),float)
self.qArmsT = array([120, 15, -90, -60, 120, -15, 90, 60])
self.qArmsT2 = self.qArmsT.transpose()
self.qArms0 = (pi/180)*self.qArmsT2
print "self.qArms0: "
print self.qArms0
self.armsIndex1Start = 0
self.armsIndex1Stop = 3
self.armsIndex2Start = 13
self.armsIndex2Stop = 15
self.hardnessArms = ones((8,1),float)*.2
#self.setJointName("LAnklePitch", "RAnklePitch", -.2)
#self.setJointName("LHipPitch", "RHipPitch", -.2)
#self.setJointName("LKneePitch", "RKneePitch", -.2)
#self.setJointName("LHipPitch", "RHipPitch", -.3)
#self.setJointName("LHipRoll", "RHipRoll", -.2)
self.t0 = self.getTime()
self.tPhase = 0.
self.phShift = 0.
self.start()
self.printHelp()
#Move Left
self.setVelocity([0.0, 0.03, 0.0])
while not self.key:
self.key = self.keyboardGetKey()
self.update()
self.simulationStep()
