def init_motion(self): dm.initMotionManager() dm.playMotion(1) dm.headMoveToHome()
print("Dx:", dx) print("Dy:", dy) # Calculate average dx and dy with moving average parameters self.avg_dx = (self.alpha * dx) + (self.beta * self.avg_dx) self.avg_dy = (self.alpha * dy) + (self.beta * self.avg_dy) self.ticks += 1 # Load tracker with .json color from command line tracker = JHT(sys.argv[1]) # Load motion manager with archery walking offsets dm.initMotionManager(WALKING_INI) state = States.INIT 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.
import darwin_motions as dm from time import sleep from head_tracker import JuarezHeadTracker as JHT MAX_P = 15 MAX_X_SPEED = 15 # Max linear velocity UPDATE_RATE = 3 # Number of ticks UPDATE_STEP = 0.5 # Increment in speed each update tracker = JHT() dm.initMotionManager() # Walk ready pose dm.playMotion(51) dm.headMoveToHome() dm.headMoveByAngle(0.0, 105.0) dm.walkSetPeriodTime(580.0) initial_xOffset = -8.0 dm.walkSetXOffset(initial_xOffset) sleep(5) dm.walkPrintParams() def updateLinearSpeed(cur_speed): if cur_speed >= MAX_X_SPEED: return MAX_X_SPEED else:
import pygame import sys 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:
def _init_motion(self): dm.initMotionManager(DEFAULT_CONFIG) dm.playMotion(52) dm.headMoveToHome()