def run_gait(gait_name, time_scale = 1.0, run_time = 10.0):
robot = RobotPi()
gait_function = get_gait(gait_name)
#scaled_gait_function = scaleTime(gait_function, 1.0 / gait_speed)
robot.run(gait_function,
runSeconds = run_time,
resetFirst = False,
#interpBegin = 2.0,
#interpEnd = 2.0,
interpBegin = 0.0,
interpEnd = 0.0,
timeScale = time_scale)
import sys
sys.path.insert(0, '/home/eric/Documents/Aracna/WindowsClone')
from RobotPi import *
from PiConstants import POS_READY
from math import *
import copy
'''
Created on Jan 31, 2013
@author: Eric Gold
'''
def sinWave():
r = 300
p = .5
f = lambda t: (sin(t/p)*r+r,40,770,40,770,40,770,40)
return f
if __name__ == '__main__':
robot = RobotPi()
f = sinWave()
print "Beginning run"
robot.run(f,runSeconds=50)
import sys
sys.path.insert(0, '/home/eric/Documents/Aracna/WindowsClone')
from RobotPi import *
from PiConstants import POS_READY
from math import *
import copy
'''
Created on Jan 31, 2013
@author: Eric Gold
'''
def sinWave():
r = 300
p = .5
f = lambda t: (sin(t / p) * r + r, 40, 770, 40, 770, 40, 770, 40)
return f
if __name__ == '__main__':
robot = RobotPi()
f = sinWave()
print "Beginning run"
robot.run(f, runSeconds=50)
