class UserInterface:
def __init__(self):
# Joystick
self.joy = JoystickInterface()
self.joy.disable_joy()
# Sequence Manager
sequences_dir = rospy.get_param("~sequences_dir")
self.sequence_manager = SequenceManager(sequences_dir)
# Sequence Action Server
self.sequence_action_server = SequenceActionServer(
self.sequence_manager)
self.sequence_action_server.start()
# Sequence Autorun
self.sequence_autorun = SequenceAutorun()
# Matlab node manager
self.matlab_manager = MatlabManager()
self.tcp_server = TcpServer()
self.tcp_server.start()
def shutdown(self):
self.sequence_manager.shutdown()
self.tcp_server.quit()
def __init__(self):
self.gauss_ros_logger = RosLogger()
# Joystick
self.joy = JoystickInterface()
self.joy.disable_joy()
# Sequence Manager
sequences_dir = rospy.get_param("~sequences_dir")
self.sequence_manager = SequenceManager(sequences_dir,
self.gauss_ros_logger)
# Sequence Action Server
self.sequence_action_server = SequenceActionServer(
self.sequence_manager, self.gauss_ros_logger)
self.sequence_action_server.start()
# Sequence Autorun
self.sequence_autorun = SequenceAutorun(self.gauss_ros_logger)
#Matlab node manager
#self.matlab_manager=MatlabManager()
self.gauss_ros_logger.publish_log_status("INFO",
"UserInterface start over")
def __init__(self):
# Joystick
self.joy = JoystickInterface()
self.joy.disable_joy()
# Blockly Server
self.blockly_server = BlocklyActionServer()
self.blockly_server.start()
class UserInterface:
def __init__(self):
# Joystick
self.joy = JoystickInterface()
self.joy.disable_joy()
# Blockly Server
self.blockly_server = BlocklyActionServer()
self.blockly_server.start()
def shutdown(self):
self.blockly_server.shutdown()
def __init__(self):
# Joystick
self.joy = JoystickInterface()
self.joy.disable_joy()
# Sequence Manager
sequences_dir = rospy.get_param("~sequences_dir")
self.sequence_manager = SequenceManager(sequences_dir)
# Sequence Action Server
self.sequence_action_server = SequenceActionServer(self.sequence_manager)
self.sequence_action_server.start()
# Sequence Autorun
self.sequence_autorun = SequenceAutorun()
def main(use_imu=False):
"""Main program
"""
# Create imu handle
if use_imu:
imu = IMU(port="/dev/ttyACM0")
imu.flush_buffer()
# Create controller and user input handles
controller = Controller(
config,
solver.inverse_kinematics_body,
)
state = State()
print("Creating joystick listener...")
joystick_interface = JoystickInterface(config)
print("Done.")
last_loop = time.time()
print("Summary of gait parameters:")
print("overlap time: ", config.overlap_time)
print("swing time: ", config.swing_time)
print("z clearance: ", config.z_clearance)
print("x shift: ", config.x_shift)
# exit()
# Wait until the activate button has been pressed
while True:
print("Waiting for L1 to activate robot.")
while True:
# break
command = joystick_interface.get_command(state, True)
# print(command)
# joystick_interface.set_color(config.ps4_deactivated_color)
if command.activate_event == 1:
break
time.sleep(0.1)
print("Robot activated.")
# joystick_interface.set_color(config.ps4_color)
while True:
now = time.time()
if now - last_loop < config.dt:
time.sleep(config.dt - (now - last_loop))
last_loop = time.time()
# Parse the udp joystick commands and then update the robot controller's parameters
command = joystick_interface.get_command(state)
if command.activate_event == 1:
print("Deactivating Robot")
break
# Read imu data. Orientation will be None if no data was available
quat_orientation = (imu.read_orientation()
if use_imu else np.array([1, 0, 0, 0]))
state.quat_orientation = quat_orientation
# Step the controller forward by dt
controller.run(state, command)
# Update the pwm widths going to the servos
angles = []
for leg in state.joint_angles:
for i in leg:
angles.append(int(i / math.pi * 180))
# print(angles)
# print(angles, state.joint_angles)
print(hardware_interface.set_actuator_postions(state.joint_angles))
