def returnToStand(): leftCurrent = 0 for node in left: leftCurrent += xjus.getNodeAvgCurrent(node) rightCurrent = 0 for node in right: rightCurrent += xjus.getNodeAvgCurrent(node) if leftCurrent > rightCurrent: first = right second = left else: first = left second = right for node in first: moveToFullRotation(node) wait() for node in second: moveToFullRotation(node) wait() for node in nodes: xjus.zeroPosition(node)
def stand(): """ Raises the chassis into a standing position """ global standing standing = True for node in nodes: xjus.setPositionProfile(node, 500, 10000, 10000) for node in nodes: move(node, degToPos(STAND_ANGLE)) wait() for node in nodes: xjus.zeroPosition(node)