# We use a config.json file to manage the robot and a lot of stuff like limits or offsets on the motors
with closing(pypot.robot.from_json('config.json')) as megabot:
for m in megabot.motors:
m.compliant = False
#Initialisation of the differents legs of the robot
leg1 = corrected_leg(megabot.leg1, 0)
leg2 = corrected_leg(megabot.leg2, -65)
leg3 = corrected_leg(megabot.leg3, -115)
leg4 = corrected_leg(megabot.leg4, -180)
leg5 = corrected_leg(megabot.leg5, 115)
leg6 = corrected_leg(megabot.leg6, 65)
#Initialisation of the robot
robot = corrected_robot([leg1, leg2, leg3, leg4, leg5, leg6],
[leg1, leg3, leg5], [leg2, leg4, leg6])
#Initialisation of all the running variables
robot.goto([0, 0, 0]) #Position
Continue = True #Do we have to continu ?
Gaz = False #Deplacement
circle = False #Rotation
Joy_X_Axis = 0
Joy_Y_Axis = 0
Speed_Axis = 0.0 # Throttle axis
Alt_Axis = 0
while Continue:
if Is_Joystick:
Joy_X_Axis = joystick.get_axis(0)
Joy_Y_Axis = joystick.get_axis(1)
Abs_Speed_Axis = joystick.get_axis(2)
#On va maintenant utiliser un fichier de configuration
#Il nous permettra de limiter nos demandes aux angles valides
with closing(pypot.robot.from_json('config.json')) as megabot:
for m in megabot.motors :
m.compliant = False;
leg1 = corrected_leg(megabot.leg1, 0)
leg2 = corrected_leg(megabot.leg2, -90)
leg3 = corrected_leg(megabot.leg3, -90)
leg4 = corrected_leg(megabot.leg4, -180)
leg5 = corrected_leg(megabot.leg5, 90)
leg6 = corrected_leg(megabot.leg6, 90)
robot = corrected_robot([leg1, leg2, leg3, leg4, leg5, leg6])
robot.goto([0, 0])
continuer = 1
gaz=False
while continuer:
for event in pygame.event.get(): #Attente des evenements
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
continuer = 0
if event.type == MOUSEMOTION: #Si mouvement de souris
#On change les coordonnees du Reticule
Reticulte_x = event.pos[0]-L_Reticule/2
Reticulte_y = event.pos[1]-H_Reticule/2
if event.type == MOUSEBUTTONDOWN or (event.type == KEYDOWN and event.key == K_SPACE) :
gaz = not(gaz)
if gaz == 1 :
# We use a config.json file to manage the robot and a lot of stuff like limits or offsets on the motors
with closing(pypot.robot.from_json('config.json')) as megabot:
for m in megabot.motors :
m.compliant = False;
#Initialisation of the differents legs of the robot
leg1 = corrected_leg(megabot.leg1, 0)
leg2 = corrected_leg(megabot.leg2, -65)
leg3 = corrected_leg(megabot.leg3, -115)
leg4 = corrected_leg(megabot.leg4, -180)
leg5 = corrected_leg(megabot.leg5, 115)
leg6 = corrected_leg(megabot.leg6, 65)
#Initialisation of the robot
robot = corrected_robot([leg1, leg2, leg3, leg4, leg5, leg6], [leg1, leg3, leg5], [leg2, leg4, leg6])
#Initialisation of all the running variables
robot.goto([0, 0, 0]) #Position
Continue = True #Do we have to continu ?
Gaz=False #Deplacement
circle = False #Rotation
Joy_X_Axis = 0
Joy_Y_Axis = 0
Speed_Axis = 0.0 # Throttle axis
Alt_Axis = 0
while Continue:
if Is_Joystick :
Joy_X_Axis = joystick.get_axis(0)
Joy_Y_Axis = joystick.get_axis(1)
Abs_Speed_Axis = joystick.get_axis(2)
#On va maintenant utiliser un fichier de configuration
#Il nous permettra de limiter nos demandes aux angles valides
with closing(pypot.robot.from_json('config.json')) as megabot:
for m in megabot.motors:
m.compliant = False
leg1 = corrected_leg(megabot.leg1, 0)
leg2 = corrected_leg(megabot.leg2, -90)
leg3 = corrected_leg(megabot.leg3, -90)
leg4 = corrected_leg(megabot.leg4, -180)
leg5 = corrected_leg(megabot.leg5, 90)
leg6 = corrected_leg(megabot.leg6, 90)
robot = corrected_robot([leg1, leg2, leg3, leg4, leg5, leg6])
robot.goto([0, 0])
continuer = 1
gaz = False
while continuer:
for event in pygame.event.get(): #Attente des evenements
if event.type == QUIT or (event.type == KEYDOWN
and event.key == K_ESCAPE):
continuer = 0
if event.type == MOUSEMOTION: #Si mouvement de souris
#On change les coordonnees du Reticule
Reticulte_x = event.pos[0] - L_Reticule / 2
Reticulte_y = event.pos[1] - H_Reticule / 2
if event.type == MOUSEBUTTONDOWN or (event.type == KEYDOWN
and event.key == K_SPACE):
gaz = not (gaz)
