def chickenDance():
robot = maestor()
crouch(robot)
moveArmsUp(robot)
twistAndDance(robot)
moveArmsDown(robot)
stand(robot)
def chickenDance():
robot = maestor()
crouch(robot)
moveArmsUp(robot)
twistAndDance(robot)
moveArmsDown(robot)
stand(robot)
def main():
robot = maestor()
robot.command("InitializeSensors", "")
for i in range(0, 1000):
print "LAT " + str(time()) + " " + robot.getProperties("LAT", "m_x m_y f_z")
print "RAT " + str(time()) + " " + robot.getProperties("RAT", "m_x m_y f_z")
def main(): #combines everything, this is the aggregatee
robot = maestor()
armsout(robot)
handflip(robot)
handhead(robot)
handhips(robot)
twerkin(robot)
clear(robot)
def main(): #create the maestor robot object robot = maestor() robot.setProperty(joint, "velocity", .3) #constant velocity robot.setProperty(joint, "position", minLim) #start at the min lim for i in range(0, 10): robot.setProperty(joint, "position", maxLim) robot.waitForJoint(joint) robot.setProperty(joint, "position", minLim) robot.waitForJoint(joint)
def stayAlive():
robot = maestor()
crouch(robot)
robot.setProperty("WST", "velocity", 0.3)
for i in xrange(0, 5):
armUp(robot)
waitForJoints(robot)
armDown(robot)
waitForJoints(robot)
upperToZero(robot)
robot.setProperty("WST", "velocity", 1)
stand(robot)
def stayAlive():
robot = maestor()
crouch(robot)
robot.setProperty("WST", "velocity", 0.3)
for i in xrange(0, 5):
armUp(robot)
waitForJoints(robot)
armDown(robot)
waitForJoints(robot)
upperToZero(robot)
robot.setProperty("WST", "velocity", 1)
stand(robot)
def __init__(self, port="/dev/ttyACM0", baudrate=9600, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False):
#Create and configure the serial reader
self.ser = serial.Serial()
self.ser.port = port
self.ser.baudrate = baudrate
self.ser.bytesize = bytesize
self.ser.parity = parity
self.ser.stopbits = stopbits
self.ser.timeout = timeout
self.ser.xonxoff = xonxoff
#Used for movement
self.increment = -.1
#Create variables for moving the elbow
self.elbowCurrentPos = -.75
self.elbowPosMax = -1.7
self.elbowPosMin = -.1
#Create variables for moving the RSP
self.RSPCurrentPos = 0
self.RSPPosMax = -1
self.RSPPosMin = 1
#Create variables for moving the RSR
self.RSRCurrentPos = 0
self.RSRPosMax = -1.3
self.RSRPosMin = 0
#Create variables for moving the RSY
self.RSYCurrentPos = 0
self.RSYPosMax = -1.35
self.RSYPosMin = 1.35
#Create the maestor object to talk to MAESTOR
self.robot = maestor()
self.robot.setProperty("REP", "velocity", .5)
self.robot.setProperty("RSP", "velocity", .5)
self.robot.setProperty("RSR", "velocity", .5)
self.robot.setProperty("RSY", "velocity", .5)
self.robot.setProperty("REP", "position", self.elbowCurrentPos)
self.robot.setProperty("RSP", "position", self.RSPCurrentPos)
self.robot.setProperty("RSR", "position", self.RSRCurrentPos)
self.robot.setProperty("RSY", "position", self.RSYCurrentPos)
#Create a list of the functions to call map to each sensor number
self.responses = [self.moveElbowUp, self.moveElbowDown, self.doNothing, self.doNothing, self.doNothing, self.doNothing, self.doNothing, self.doNothing ] #self.moveRSYRight, self.moveRSYLeft, self.moveRSRUp, self.moveRSRDown, self.moveRSPUp, self.moveRSPDown]
self.thresholds = [2, 2, 2, 2, 2, 2, 2, 2]
#Open up the serial connection
try:
self.ser.open()
except Exception, e:
print "Serial Connection could not be opened: " + str(e)
def doTheYMCA():
robot = maestor()
crouch(robot)
for i in xrange(0,2): #for(int i=0; i < 3; i ++)
theY(robot)
waitForJoints(robot)
theM(robot)
waitForJoints(robot)
theC(robot)
waitForJoints(robot)
theA(robot)
waitForJoints(robot)
upperBodyHome(robot)
waitForJoints(robot)
stand(robot)
def doTheYMCA():
robot = maestor()
crouch(robot)
for i in xrange(0, 3): #for(int i=0; i < 3; i ++)
theY(robot)
waitForJoints(robot)
theM(robot)
waitForJoints(robot)
theC(robot)
waitForJoints(robot)
theA(robot)
waitForJoints(robot)
upperBodyHome(robot)
waitForJoints(robot)
stand(robot)
def walkLikeAnEgyptian():
robot = maestor()
crouch(robot)
for i in xrange(0, 2):
for i in xrange(0, 2):
one_way_S(robot)
wait_for_joint(robot)
one_way_extended(robot)
wait_for_joint(robot)
for i in xrange(0, 2):
other_way_S(robot)
wait_for_joint(robot)
other_way_extended(robot)
wait_for_joint(robot)
upper_body_home(robot)
wait_for_joint(robot)
stand(robot)
#!/usr/bin/env python
from Maestor import maestor
robot = maestor()
def main():
setVelocities()
bendDown()
doTheRobot()
standUp()
resetVelocities()
def setVelocities():
robot.setProperties("RSP RSR RSY REP NKY",
"velocity velocity velocity velocity velocity",
"1.5 1.5 1.5 1.5 1.5")
def resetVelocities():
robot.setProperties("RSP RSR RSY REP NKY",
"velocity velocity velocity velocity velocity",
"1 1 1 1 1")
def bendDown():
robot.setProperties("RFZ LFZ", "position position", "-.54 -.54")
robot.waitForJoint("RFZ")
robot.waitForJoint("LFZ")
def main():
robot = maestor()
for i in range(0, 200):
print robot.getProperties("ZMP", "")
def theRobot():
robot = maestor()
bendDown(robot)
for i in range(0, 3):
doTheRobot(robot)
standUp(robot)
def theRobot():
robot = maestor()
bendDown(robot)
for i in range(0, 3):
doTheRobot(robot)
standUp(robot)
def main():
global listening
global danceStop
signal.signal(signal.SIGINT, signal_handler)
config = {
"database": {
"host": "127.0.0.1",
"user": "******",
"passwd": "hubo",
"db": "dejavu",
}
}
listener = songListener(config)
listener.start()
theRobot = maestor()
listening = True
#Used for knowing where in a dance we are
##Used for knowing which part of the dance to do
index = 0
danceList = []
#crouch
crouch(theRobot)
#loop in main thread and dance if we should be dancing.
while(listening):
if danceStop:
continue
if chickenDance:
#Get the chicken dance list
danceList = ChickenDance.getDanceList()
elif robotDance:
#Get the robot dance list
danceList = robot.getDanceList()
elif discoDance:
#Get the disco dance list
danceList = disco.getDanceList()
elif egyptianDance:
#Get the egyptian dance list
danceList = walkLikeAnEgyptian.getDanceList()
elif ymcaDance:
#Get the ymca dance list
danceList = YMCA.getDanceList()
else:
#In here we need to stop/do nothing.
#Set the robot back to home
upperHome(theRobot)
waitForJoints(theRobot)
#Reset the index
index = 0;
#Reset dance stop
danceStop = True
print "It is now save to end the demo with ctrl-c"
continue
#Do a step of the dance
stepper(index, danceList, theRobot)
if( index < len(danceList) - 1):
index += 1
else:
index = 0
#Stand up
stand(theRobot)
listener.stop()
def theRobot():
robot = maestor()
bendDown(robot)
doTheRobot(robot)
standUp(robot)
#!/usr/bin/env python
from Maestor import maestor
import time
leftHit = 0
leftBase = 0
rightHit = 0
rightBase = 0
robot = maestor()
#EP SP SR SY WY WP
def loadJointValues():
global leftHit
global rightHit
global leftBase
global rightBase
f = open("hitConfig.txt", "r")
for line in f:
words = line.split(" ")
if words[0] == "Left:":
leftHit = float(words[1])
elif words[0] == "Right:":
rightHit = float(words[1])
leftBase = leftHit + .05
rightHit = rightHit + .02
rightBase = rightHit - .05
print leftBase
print leftHit
def theRobot():
robot = maestor()
bendDown(robot)
doTheRobot(robot)
standUp(robot)
