def update( self, *args, **kwargs ):
global_time.updateTime(args[0])
return self.callback(*args, **kwargs)
plane=1,
pave=0,
graphical=1,
ground_grade=.00,
robot=SpiderWHydraulics,
robot_kwargs=d,
render_objs=1,
draw_contacts=0)
last_t = 0
x_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
y_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
z_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
r_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
while True:
s.step()
global_time.updateTime(s.getSimTime())
if s.getSimTime() - last_t > .001:
x = -(stick.get_axis(1) + .15466)
if x < 0:
x *= 2
x /= .7
y = -(stick.get_axis(0) + .15466)
if y < 0:
y *= 2
y /= .7
z = -(stick.get_axis(3) - .29895)
if z < 0:
z *= 2
rot = stick.get_axis(2) + .226806
x = x_low.update(x)
ground_grade=0.,
robot=SpiderWHydraulics,
robot_kwargs=d,
render_objs=1,
draw_contacts=0)
last_t = 0
def toScale(val):
return float(val) / 128. - 1
try:
while True:
s.step()
global_time.updateTime(s.getSimTime())
if s.getSimTime() - last_t > .001:
cmd = input_server.getLastCommand()
if not cmd:
time.sleep(.5)
continue
x = toScale(cmd[18])
y = toScale(cmd[17])
z = toScale(cmd[20])
rot = toScale(cmd[19])
print x, y, z, rot
s.robot.constantSpeedWalkSmart(x_scale=x,
y_scale=y,
z_scale=z,
rot_scale=rot)
last_t = s.getSimTime()
def update(self, *args, **kwargs):
global_time.updateTime(args[0])
return self.callback(*args, **kwargs)
