def transfer():
event_list = []
for i in range(0, NUM_MOTORS):
activation_time = 0
activation_time = vars['offset'][i]
# START CONTRACTING
activation_time = (activation_time + vars['expanded_delay'][i])
event_list.append({
'activation_time': activation_time,
'motor_index': i,
'direction': CONTRACT,
'pwm':vars['contract_speed'][i],
})
# STOP CONTRACTING
activation_time = (activation_time + vars['contract_time'][i])
event_list.append({
'activation_time': activation_time,
'motor_index': i,
'direction': CONTRACT,
'pwm': 0,
})
# START EXPANDING
activation_time = (activation_time + vars['contracted_delay'][i])
event_list.append({
'activation_time': activation_time,
'motor_index': i,
'direction': EXPAND,
'pwm': vars['expand_speed'][i],
})
# STOP EXPANDING
activation_time = (activation_time + vars['expand_time'][i])
event_list.append({
'activation_time': activation_time,
'motor_index': i,
'direction': EXPAND,
'pwm': 0,
})
# SORT
event_list = sorted(event_list, key=lambda k: k['activation_time'])
mctransmitter.tx_gait(event_list)
print "transmitting gait"
for event in event_list:
print "time: " + str(event['activation_time']),
print "motor: " + str(event['motor_index']),
print "dir: " + str(event['direction']),
print "pwm: " + str(event['pwm'])
def transfer():
event_list = []
cycle_length = (
variables["expanded_delay"]
+ variables["contract_time"]
+ variables["contracted_delay"]
+ variables["expand_time"]
)
for i in range(0, NUM_MOTORS):
activation_time = 0
skip = 0
if i == 1:
activation_time = variables["motor_1_offset"]
elif i == 2:
activation_time = variables["motor_2_offset"]
# START CONTRACTING
activation_time = activation_time + variables["expanded_delay"]
if activation_time >= cycle_length:
activation_time = activation_time % cycle_length
skip = 1
event_list.append(
{
"activation_time": activation_time,
"motor_index": i,
"direction": CONTRACT,
"pwm": variables["contract_speed"],
"skip": skip,
}
)
# STOP CONTRACTING
activation_time = activation_time + variables["contract_time"]
if activation_time >= cycle_length:
activation_time = activation_time % cycle_length
skip = 1
event_list.append(
{"activation_time": activation_time, "motor_index": i, "direction": CONTRACT, "pwm": 0, "skip": skip}
)
# START EXPANDING
activation_time = activation_time + variables["contracted_delay"]
if activation_time >= cycle_length:
activation_time = activation_time % cycle_length
skip = 1
event_list.append(
{
"activation_time": activation_time,
"motor_index": i,
"direction": EXPAND,
"pwm": variables["expand_speed"],
"skip": skip,
}
)
# STOP EXPANDING
activation_time = activation_time + variables["expand_time"]
if activation_time >= cycle_length:
activation_time = activation_time % cycle_length
skip = 1
event_list.append(
{"activation_time": activation_time, "motor_index": i, "direction": EXPAND, "pwm": 0, "skip": skip}
)
# SORT
event_list = sorted(event_list, key=lambda k: k["activation_time"])
mctransmitter.tx_gait(event_list)
print "transmitting gait"
for event in event_list:
print "time: " + str(event["activation_time"]),
print "motor: " + str(event["motor_index"]),
print "dir: " + str(event["direction"]),
print "pwm: " + str(event["pwm"]),
print "skip: " + str(event["skip"])