def main(): # Call the logs function to start logging. functions.logs() # Create the Updater and pass the bot token. updater = Updater(token=TOKEN, use_context=True) dispatcher = updater.dispatcher # Call the function that contains the handlers for the commands. functions.handlersProcess(updater, dispatcher)
def main(): # Call the logs function to start logging. functions.logs() # Create the Updater and pass the bot token. f = open("TOKEN", "r") TOKEN=f.readline().rstrip() f.close() updater = Updater(token=TOKEN, use_context=True) dispatcher = updater.dispatcher # Call the function that contains the handlers for the commands. functions.handlers(updater, dispatcher)
def main(): # Call the logs function to start logging. functions.logs() # Create the Updater and pass the bot token. updater = Updater(token=TOKEN) dispatcher = updater.dispatcher jobqueue = updater.job_queue # Call the function that controls the jobs. functions.jobsManager(jobqueue) # Call the function that contains the handlers for the commands. functions.handlersProcess(updater, dispatcher)
def error(update, context): logger = functions.logs() logger.warning('Update "%s" caused error "%s"', update, context.error)
def drink(s, num, homepos, timelog, countlog, freqlog, commandlog, positionlog, keylog, keytimelog): #レーザーを床に撃つ:3 #ws.Beep(1000, 300) #num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #num = timer(num, timelog, countlog, freqlog, commandlog) """ #進行方向調整 theta0 = MeasureTheta(homepos[2]) print "theta0:", theta0 DisToTable = MeasureDistance(1.2, 1) print "DisToTable:", DisToTable """ """ #前進:4 time.sleep(2.0) ws.Beep(1000, 300) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #num = timer(num, timelog, countlog, freqlog, commandlog) m.moveTo(1.4, 0.0, 0.0, 8.0) time.sleep(2.0) positionlog.append(l.getRobotPosition(True)) #position = l.getRobotPosition(True) print "position:", positionlog """ #肩調節の姿勢へ:6 ws.Beep(1000, 300) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #num = timer(num, timelog, countlog, freqlog, commandlog) position = l.getRobotPosition(True) positionlog.append(l.getRobotPosition(True)) #print "position2:", positionlog[2] #------------------肩調節---------------------------------- ThetaDis = Aiming(position[2], s, num, timelog, countlog, freqlog, commandlog, keylog, keytimelog, positionlog) #------------手首調節開始:11---------------------- time.sleep(1.0) ws.Beep(1000, 300) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #num = timer(num) #----------------つかむ準備姿勢:14----------------------- #ws.Beep(1000, 300) #num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #num = timer(num) m.setAngles(jointnames, pos.Rsearch_curtain, 0.2) time.sleep(2.0) SPERDis = ReachingPet(ThetaDis[1]) #手を伸ばす m.setAngles([jointnames[6], jointnames[9], jointnames[10], jointnames[11]], [SPERDis[0], SPERDis[1], -0.5, 1.0], 0.2) time.sleep(1.5) #手を下ろす SPtheta2 = SPERDis[0] + 0.65 print "SPtheta2:", SPtheta2 m.setAngles(jointnames[6], SPtheta2, 0.05) time.sleep(3.0) #持ち上げる m.setAngles([jointnames[9], jointnames[10], jointnames[11]], [1.0, 1.0, 0.0], 0.05) time.sleep(3.0) m.setAngles([jointnames[6], jointnames[9]], [1.0, 1.5], 0.1) time.sleep(1.0) #近づいた分戻って補正:18 ws.Beep(1000, 300) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #num = timer(num) #m.moveTo(-d2*math.cos(theta1[0]), -d2*math.sin(theta1[0]), 0.0) m.moveTo(-SPERDis[2], 0.0, 0.0) m.moveTo(0.0, 0.0, -(l.getRobotPosition(True)[2] - homepos[2])) time.sleep(2.0) #回転の補正 #m.moveTo(0.0, 0.0, -theta1) #m.moveTo(0.0, 0.0, (position1[2]-position[2])+math.radians(3.3)) #position = l.getRobotPosition(True) #print position #併進移動の補正 #m.moveTo(position1[0]-position[0], position1[1]-position[1], 0.0) #position = l.getRobotPosition(True) #print (position) #終了 ws.Beep(1000, 300) time.sleep(1.0) ws.Beep(1000, 300) time.sleep(1.0) ws.Beep(1000, 700) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) #csvファイルへ書き込み now = datetime.datetime.now() filename = "log" + now.strftime("%Y%m%d%H%M%S") + ".csv" with open(filename, "w") as f: writer = csv.writer(f, lineterminator="\n") writer.writerow(commandlog) writer.writerow(timelog) writer.writerow(countlog) writer.writerow(freqlog) writer.writerow(keylog) writer.writerow(keytimelog) del commandlog[1:] del timelog[1:] del countlog[1:] del freqlog[1:] del keylog[1:] del keytimelog[1:]
def Aiming(PosTheta, s, num, timelog, countlog, freqlog, commandlog, keylog, keytimelog, positionlog): frag = 0 m.setAngles(jointnames, pos.b2, 0.2) time.sleep(2.0) ws.Beep(1000, 300) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) keylog.append("start") keytimelog.append(time.time() - s) print("command 0:OK, 2:down, 4:left, 5:stop, 6:right, 8:up") while (1): x = g() #デバッグ用 """ x = DB.toPepper time.sleep(delay) idx = DB.toPepper if(x != idx): #一瞬だけ出力されるような間違ったコマンドを排除 continue """ if (str(x) == "2"): #右 5の次に入力すると停止 4の次に入力すると掴みに行く keylog.append(x) keytimelog.append(time.time() - s) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) if (frag == 0 or frag == 2): print "right", x m.moveToward(0.0, 0.0, -0.1) frag = 2 elif (frag == 5): print "stop", x m.moveToward(0.0, 0.0, 0.0) frag = 0 elif (frag == 1): print "stop", x frag = 9 elif (str(x) == "5"): #左 2の次に入力すると停止 keylog.append(x) keytimelog.append(time.time() - s) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) if (frag == 0 or frag == 5): print "left", x m.moveToward(0.0, 0.0, 0.1) frag = 5 elif (frag == 2): print "stop", x m.moveToward(0.0, 0.0, 0.0) frag = 0 elif (str(x) == "3"): #上 4の次に入力すると停止 keylog.append(x) keytimelog.append(time.time() - s) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) if (frag == 1 or frag == 3): print "up", x m.setAngles(jointnames[10], -1.5, 0.01) frag = 3 elif (frag == 4): print "stop", x phi = m.getAngles(jointnames[10], False)[0] m.setAngles(jointnames[10], phi, 0.5) Distance = (0.05 * math.cos(math.radians(phi * 60)) + 0.1) / math.tan(math.radians( phi * 60)) + 0.05 * math.sin( math.radians(phi * 60)) + 0.06 frag = 1 elif (str(x) == "4"): #下 3の次に入力すると停止 2or5の次に入力するとレーザーを横に keylog.append(x) keytimelog.append(time.time() - s) num = func.logs(s, num, timelog, countlog, freqlog, commandlog) if (frag == 1 or frag == 4): print "down", x m.setAngles(jointnames[10], 1.5, 0.01) frag = 4 elif (frag == 3): print "stop", x phi = m.getAngles(jointnames[10], False)[0] m.setAngles(jointnames[10], phi, 0.5) Distance = (0.05 * math.cos(math.radians(phi * 60)) + 0.1) / math.tan(math.radians( phi * 60)) + 0.05 * math.sin( math.radians(phi * 60)) + 0.06 frag = 1 elif (frag == 0): print "change", x m.setAngles([jointnames[8], jointnames[10]], [0.0, 1.0], 0.2) frag = 1 else: if (frag == 9): break print "no input", x Theta = 0 return [Theta, Distance]