from PopPyControl.poppy import Poppy
import time
robot = Poppy()
delay = 1
delayStart = 0.5
for id, motor in robot.motors.items():
motor.update()
motor.setTorque(1)
print('Algoritmo Equilibrio')
try:
# Posicao 01
print('Posicao Inicial')
# Pernas
robot.l_ankle.setPosition(1733)
robot.r_ankle.setPosition(2018)
time.sleep(delayStart)
robot.l_knee.setPosition(1941)
robot.r_knee.setPosition(1950)
time.sleep(delayStart)
robot.l_hip_y.setPosition(2151)
robot.r_hip_y.setPosition(2163)
time.sleep(delayStart)
robot.l_hip_z.setPosition(2118)
robot.r_hip_z.setPosition(2117)
time.sleep(delayStart)
robot.l_hip_x.setPosition(2100)
robot.r_hip_x.setPosition(1840)
prevStep = step
print(f"Passo {step} movendo {motorID} para {angle}")
elif algorithmType == 2:
motorID = int(line[0])
angle = int(line[1])
delay = int(line[2])
print(f"Passo {step} movendo {motorID} para {angle}")
time.sleep(delay)
step += 1
algorithm.close()
if not isLoop:
break
except KeyboardInterrupt:
print("\nAlgoritmo Abortado.")
if __name__ == "__main__":
robot = Poppy()
while True:
try:
algorithmName = str(input("Digite o algoritmo desejado: "))
except KeyboardInterrupt:
# robot.close()
print('\n')
break
readAlgorithm("robot", algorithmName)
from PopPyControl.poppy import Poppy
import time
robot = Poppy()
for id, motor in robot.motors.items():
motor.setLED(1)
time.sleep(1)
for id, motor in robot.motors.items():
motor.setLED(0)
robot.clear()
robot.close()
from PopPyControl.poppy import Poppy
import time
robot = Poppy()
delay = 1
for id, motor in robot.motors.items():
motor.update()
motor.setTorque(1)
print('Algoritmo Acenar')
try:
# Posicao 1
print('Posicao 1')
robot.l_ankle.setPosition(1752)
robot.r_ankle.setPosition(2070)
time.sleep(delay)
robot.l_knee.setPosition(979)
robot.r_knee.setPosition(987)
time.sleep(delay)
robot.l_hip_y.setPosition(1155)
robot.r_hip_y.setPosition(3150)
time.sleep(delay)
robot.l_hip_z.setPosition(2167)
robot.r_hip_z.setPosition(2008)
time.sleep(delay)
robot.l_hip_x.setPosition(2135)
robot.r_hip_x.setPosition(1848)
time.sleep(delay)