def user_state(self, leg, shoulder, elbow, foot):
user_packet = Packet()
if leg == 1:
self.leg_1.set_angles(shoulder, elbow, foot)
elif leg == 2:
self.leg_2.set_angles(shoulder, elbow, foot)
elif leg == 3:
self.leg_3.set_angles(shoulder, elbow, foot)
elif leg == 4:
self.leg_4.set_angles(shoulder, elbow, foot)
elif leg == 5:
self.leg_5.set_angles(shoulder, elbow, foot)
elif leg == 6:
self.leg_6.set_angles(shoulder, elbow, foot)
user_packet.set_leg(1, self.leg_1)
user_packet.set_leg(2, self.leg_2)
user_packet.set_leg(3, self.leg_3)
user_packet.set_leg(4, self.leg_4)
user_packet.set_leg(5, self.leg_5)
user_packet.set_leg(6, self.leg_6)
user_packet.make_packet()
packet_list = [user_packet]
return packet_list
def storage(self):
storage_packet = Packet()
self.leg_1.set_angles(60, 15, 20)
self.leg_2.set_angles(60, 15, 20)
self.leg_3.set_angles(60, 15, 20)
self.leg_4.set_angles(60, 15, 20)
self.leg_5.set_angles(60, 15, 20)
self.leg_6.set_angles(60, 15, 20)
storage_packet.set_leg(1, self.leg_1)
storage_packet.set_leg(2, self.leg_2)
storage_packet.set_leg(3, self.leg_3)
storage_packet.set_leg(4, self.leg_4)
storage_packet.set_leg(5, self.leg_5)
storage_packet.set_leg(6, self.leg_6)
storage_packet.make_packet()
packet_list = [storage_packet]
return packet_list
def home(self):
home_packet = Packet()
self.leg_1.set_angles(90, 100, 120)
self.leg_2.set_angles(90, 100, 120)
self.leg_3.set_angles(90, 100, 120)
self.leg_4.set_angles(90, 100, 120)
self.leg_5.set_angles(90, 100, 120)
self.leg_6.set_angles(90, 100, 120)
home_packet.set_leg(1, self.leg_1)
home_packet.set_leg(2, self.leg_2)
home_packet.set_leg(3, self.leg_3)
home_packet.set_leg(4, self.leg_4)
home_packet.set_leg(5, self.leg_5)
home_packet.set_leg(6, self.leg_6)
home_packet.make_packet()
packet_list = [home_packet]
return packet_list
def forward(self):
packet_list = []
#pos 1 - centered
forward_packet_1 = Packet()
self.leg_1.set_angles(90, 110, 60)
self.leg_2.set_angles(90, 70, 20)
self.leg_3.set_angles(100, 70, 20)
self.leg_4.set_angles(90, 110, 60)
self.leg_5.set_angles(90, 110, 40)
self.leg_6.set_angles(100, 70, 20)
forward_packet_1.set_leg(1, self.leg_1)
forward_packet_1.set_leg(2, self.leg_2)
forward_packet_1.set_leg(3, self.leg_3)
forward_packet_1.set_leg(4, self.leg_4)
forward_packet_1.set_leg(5, self.leg_5)
forward_packet_1.set_leg(6, self.leg_6)
forward_packet_1.make_packet()
packet_list.append(forward_packet_1)
#pos 2 - front (right side legs)
forward_packet_2 = Packet()
self.leg_1.set_angles(120, 110, 40)
self.leg_2.set_angles(100, 70, 20)
self.leg_3.set_angles(110, 70, 20)
self.leg_4.set_angles(120, 110, 40)
self.leg_5.set_angles(110, 110, 55)
self.leg_6.set_angles(110, 70, 20)
forward_packet_2.set_leg(1, self.leg_1)
forward_packet_2.set_leg(2, self.leg_2)
forward_packet_2.set_leg(3, self.leg_3)
forward_packet_2.set_leg(4, self.leg_4)
forward_packet_2.set_leg(5, self.leg_5)
forward_packet_2.set_leg(6, self.leg_6)
forward_packet_2.make_packet()
packet_list.append(forward_packet_2)
#pos 3 - up front
forward_packet_3 = Packet()
self.leg_1.set_angles(110, 70, 20)
self.leg_2.set_angles(110, 110, 55)
self.leg_3.set_angles(120, 110, 40)
self.leg_4.set_angles(110, 70, 20)
self.leg_5.set_angles(100, 70, 20)
self.leg_6.set_angles(120, 110, 40)
forward_packet_3.set_leg(1, self.leg_1)
forward_packet_3.set_leg(2, self.leg_2)
forward_packet_3.set_leg(3, self.leg_3)
forward_packet_3.set_leg(4, self.leg_4)
forward_packet_3.set_leg(5, self.leg_5)
forward_packet_3.set_leg(6, self.leg_6)
forward_packet_3.make_packet()
packet_list.append(forward_packet_3)
#pos 4 - up centered
forward_packet_4 = Packet()
self.leg_1.set_angles(100, 70, 20)
self.leg_2.set_angles(90, 110, 40)
self.leg_3.set_angles(90, 110, 60)
self.leg_4.set_angles(100, 70, 20)
self.leg_5.set_angles(90, 70, 20)
self.leg_6.set_angles(90, 110, 60)
forward_packet_4.set_leg(1, self.leg_1)
forward_packet_4.set_leg(2, self.leg_2)
forward_packet_4.set_leg(3, self.leg_3)
forward_packet_4.set_leg(4, self.leg_4)
forward_packet_4.set_leg(5, self.leg_5)
forward_packet_4.set_leg(6, self.leg_6)
forward_packet_4.make_packet()
packet_list.append(forward_packet_4)
#pos 5 - up back
forward_packet_5 = Packet()
self.leg_1.set_angles(90, 70, 20)
self.leg_2.set_angles(60, 110, 55)
self.leg_3.set_angles(80, 110, 90)
self.leg_4.set_angles(90, 70, 20)
self.leg_5.set_angles(70, 70, 20)
self.leg_6.set_angles(80, 110, 90)
forward_packet_5.set_leg(1, self.leg_1)
forward_packet_5.set_leg(2, self.leg_2)
forward_packet_5.set_leg(3, self.leg_3)
forward_packet_5.set_leg(4, self.leg_4)
forward_packet_5.set_leg(5, self.leg_5)
forward_packet_5.set_leg(6, self.leg_6)
forward_packet_5.make_packet()
packet_list.append(forward_packet_5)
#pos 6 - back
forward_packet_6 = Packet()
self.leg_1.set_angles(80, 110, 90)
self.leg_2.set_angles(70, 70, 20)
self.leg_3.set_angles(90, 70, 20)
self.leg_4.set_angles(80, 110, 90)
self.leg_5.set_angles(60, 110, 55)
self.leg_6.set_angles(90, 70, 20)
forward_packet_6.set_leg(1, self.leg_1)
forward_packet_6.set_leg(2, self.leg_2)
forward_packet_6.set_leg(3, self.leg_3)
forward_packet_6.set_leg(4, self.leg_4)
forward_packet_6.set_leg(5, self.leg_5)
forward_packet_6.set_leg(6, self.leg_6)
forward_packet_6.make_packet()
packet_list.append(forward_packet_6)
return packet_list
