class RobotsCommand(commands.Command):
def run(self, options, arguments):
self.robots = Robots()
self.robots.loadYaml('config.yml')
if not arguments:
for name, robot in self.robots.robots.items():
self.executeFor(robot, options)
else:
for name in arguments:
if name in self.robots.robots:
self.executeFor(self.robots.robots[name], options)
else:
print('Robot %s not found' % name)
return
def executeFor(self, robot, options):
pass
def stop(self):
if self.robots:
self.robots.stop()
def run(self, options, arguments):
self.robots = Robots()
self.robots.loadYaml('config.yml')
if not arguments:
for name, robot in self.robots.robots.items():
self.executeFor(robot, options)
else:
for name in arguments:
if name in self.robots.robots:
self.executeFor(self.robots.robots[name], options)
else:
print('Robot %s not found' % name)
return
class RobotCommand(commands.Command):
def run(self, options, arguments):
if not arguments:
print('You must specify a robot name')
return
robotName = arguments[0]
arguments = arguments[1:]
self.robots = Robots()
self.robots.loadYaml('config.yml')
if robotName not in self.robots:
print('Robot %s not found' % robotName)
return
self.execute(self.robots[robotName], options, arguments)
def execute(self, robot, options, arguments):
pass
def stop(self):
if self.robots:
self.robots.stop()
def run(self, options, arguments):
if not arguments:
print('You must specify a robot name')
return
robotName = arguments[0]
arguments = arguments[1:]
self.robots = Robots()
self.robots.loadYaml('config.yml')
if robotName not in self.robots:
print('Robot %s not found' % robotName)
return
self.execute(self.robots[robotName], options, arguments)
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import time, math
from rhoban.robot import Robots
robots = Robots()
robots.loadYaml('config.yml')
sigmaban = robots['sigmaban']
sigmaban.motors.start(50)
t = 0
sigmaban.motors.allHard()
while True:
t = t + 0.01
sigmaban.motors['Coude D'].setAngle(math.sin(t)*40)
time.sleep(0.01)
robots.stop()
