def main(self):
while self.running:
#Si no estamos depurando y el movimiento no esta bloqueado, movemos los objetos de acuerdo al movimiento del Oculus
if not self.debug and not self.moveBlocked:
#Se obtiene la posición actual del OVR
ss = ovrsdk.ovrHmd_GetSensorState(
self.hmd, ovrsdk.ovr_GetTimeInSeconds())
pose = ss.Predicted.Pose
#Valores de posición actuales del OVR
currp = [pose.Orientation.x, pose.Orientation.y]
#Movemos la cámara del visualizador de moléculas en sentido al movimiento del OVR
pymol.cmd.move('x', (currp[1] - self.prevp[1]) *
self.ovr_sensitivity)
pymol.cmd.move(
'y', -(currp[0] - self.prevp[0]) * self.ovr_sensitivity)
#Actualizamos los valores de posición anteriores del OVR
self.prevp = currp
#Comprobamos si hay comandos por recibir, en caso de no existir alguno, se ignora el error que generaría el sistema operativo.
try:
self.data = self.sock.recv(1024)
except socket.error:
pass
else:
self.__process_command()
#Dormimos el programa para disminuir el uso de CPU
time.sleep(SLEEPTIME)
pymol.cmd.quit()
def _run(self):
"""Interpolate orientation data and update servo positions"""
pitch_domain = [-0.3, 0.7]
yaw_domain = [-0.7, 0.7]
pitch_range = [0, 180]
yaw_range = [15, 165]
pitch_inversion = 1 * self.invert
yaw_inversion = -1 * self.invert
map_pitch = lambda x: int(interp(
pitch_inversion * x,
pitch_domain,
pitch_range)
)
map_yaw = lambda x: int(interp(
yaw_inversion * x,
yaw_domain,
yaw_range)
)
range0 = 90
range1 = 45
po.set_target(self.servo, 1, range0)
po.set_target(self.servo, 1, range1)
while True:
state = ovr.ovrHmd_GetSensorState(
self.hmd, ovr.ovr_GetTimeInSeconds()
)
pose = state.Predicted.Pose
pitch = pose.Orientation.x # -0.3 ~ 0.7
#roll = pose.Orientation.z
yaw = pose.Orientation.y # -0.7 ~ 0.7
range0 = map_yaw(yaw)
range1 = map_pitch(pitch)
#print("Servo 0 set to {}, servo 1 set to {}".format(range0, range1))
po.set_target(self.servo, 0, range0)
po.set_target(self.servo, 1, range1)
gevent.sleep(0)
def _run(self):
"""Interpolate orientation data and update servo positions"""
pitch_domain = [-0.3, 0.7]
yaw_domain = [-0.7, 0.7]
pitch_range = [0, 180]
yaw_range = [15, 165]
pitch_inversion = 1 * self.invert
yaw_inversion = -1 * self.invert
map_pitch = lambda x: int(
interp(pitch_inversion * x, pitch_domain, pitch_range))
map_yaw = lambda x: int(
interp(yaw_inversion * x, yaw_domain, yaw_range))
range0 = 90
range1 = 45
po.set_target(self.servo, 1, range0)
po.set_target(self.servo, 1, range1)
while True:
state = ovr.ovrHmd_GetSensorState(self.hmd,
ovr.ovr_GetTimeInSeconds())
pose = state.Predicted.Pose
pitch = pose.Orientation.x # -0.3 ~ 0.7
#roll = pose.Orientation.z
yaw = pose.Orientation.y # -0.7 ~ 0.7
range0 = map_yaw(yaw)
range1 = map_pitch(pitch)
#print("Servo 0 set to {}, servo 1 set to {}".format(range0, range1))
po.set_target(self.servo, 0, range0)
po.set_target(self.servo, 1, range1)
gevent.sleep(0)
def main(self):
while self.running:
#Si no estamos depurando y el movimiento no esta bloqueado, movemos los objetos de acuerdo al movimiento del Oculus
if not self.debug and not self.moveBlocked:
#Se obtiene la posición actual del OVR
ss = ovrsdk.ovrHmd_GetSensorState(self.hmd, ovrsdk.ovr_GetTimeInSeconds())
pose = ss.Predicted.Pose
#Valores de posición actuales del OVR
currp = [pose.Orientation.x,pose.Orientation.y]
#Movemos la cámara del visualizador de moléculas en sentido al movimiento del OVR
pymol.cmd.move('x',(currp[1]-self.prevp[1])*self.ovr_sensitivity)
pymol.cmd.move('y',-(currp[0]-self.prevp[0])*self.ovr_sensitivity)
#Actualizamos los valores de posición anteriores del OVR
self.prevp = currp
#Comprobamos si hay comandos por recibir, en caso de no existir alguno, se ignora el error que generaría el sistema operativo.
try:
self.data = self.sock.recv(1024)
except socket.error:
pass
else:
self.__process_command()
#Dormimos el programa para disminuir el uso de CPU
time.sleep(SLEEPTIME)
pymol.cmd.quit()
if __name__ == '__main__':
hmd = oculus()
pitch_domain = [-0.3, 0.7]
yaw_domain = [-0.7, 0.7]
pitch_range = [0, 180]
yaw_range = [15, 165]
map_pitch = lambda x: int(interp(x, pitch_domain, pitch_range))
map_yaw = lambda x: int(interp(x, yaw_domain, yaw_range))
range0 = 90
range1 = 45
while True:
state = ovr.ovrHmd_GetSensorState(
hmd, ovr.ovr_GetTimeInSeconds()
)
pose = state.Predicted.Pose
pitch = pose.Orientation.x # -0.3 ~ 0.7
#roll = pose.Orientation.z
yaw = pose.Orientation.y # -0.7 ~ 0.7
range0 = map_yaw(yaw)
range1 = map_pitch(pitch)
print("Servo 0 set to {}, servo 1 set to {}".format(range0, range1))
sleep(0.05)
